openpilot v0.9.6 release

date: 2024-01-12T10:13:37 master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
2024-01-12 22:39:28 -07:00
commit 08e9fb1edc
1881 changed files with 653708 additions and 0 deletions
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -0,0 +1,77 @@
+#include "selfdrive/ui/qt/offroad/driverview.h"
+
+#include <algorithm>
+#include <QPainter>
+
+#include "selfdrive/ui/qt/util.h"
+
+const int FACE_IMG_SIZE = 130;
+
+DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) {
+  face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
+  QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
+  QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
+    if (isVisible()) {
+      emit done();
+    }
+  });
+}
+
+void DriverViewWindow::showEvent(QShowEvent* event) {
+  params.putBool("IsDriverViewEnabled", true);
+  device()->resetInteractiveTimeout(60);
+  CameraWidget::showEvent(event);
+}
+
+void DriverViewWindow::hideEvent(QHideEvent* event) {
+  params.putBool("IsDriverViewEnabled", false);
+  stopVipcThread();
+  CameraWidget::hideEvent(event);
+}
+
+void DriverViewWindow::paintGL() {
+  CameraWidget::paintGL();
+
+  std::lock_guard lk(frame_lock);
+  QPainter p(this);
+  // startup msg
+  if (frames.empty()) {
+    p.setPen(Qt::white);
+    p.setRenderHint(QPainter::TextAntialiasing);
+    p.setFont(InterFont(100, QFont::Bold));
+    p.drawText(geometry(), Qt::AlignCenter, tr("camera starting"));
+    return;
+  }
+
+  const auto &sm = *(uiState()->sm);
+  cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
+  bool is_rhd = driver_state.getWheelOnRightProb() > 0.5;
+  auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
+
+  bool face_detected = driver_data.getFaceProb() > 0.7;
+  if (face_detected) {
+    auto fxy_list = driver_data.getFacePosition();
+    auto std_list = driver_data.getFaceOrientationStd();
+    float face_x = fxy_list[0];
+    float face_y = fxy_list[1];
+    float face_std = std::max(std_list[0], std_list[1]);
+
+    float alpha = 0.7;
+    if (face_std > 0.15) {
+      alpha = std::max(0.7 - (face_std-0.15)*3.5, 0.0);
+    }
+    const int box_size = 220;
+    // use approx instead of distort_points
+    int fbox_x = 1080.0 - 1714.0 * face_x;
+    int fbox_y = -135.0 + (504.0 + std::abs(face_x)*112.0) + (1205.0 - std::abs(face_x)*724.0) * face_y;
+    p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10));
+    p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
+  }
+
+  // icon
+  const int img_offset = 60;
+  const int img_x = is_rhd ? rect().right() - FACE_IMG_SIZE - img_offset : rect().left() + img_offset;
+  const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset;
+  p.setOpacity(face_detected ? 1.0 : 0.2);
+  p.drawPixmap(img_x, img_y, face_img);
+}
--- a/selfdrive/ui/qt/offroad/driverview.h
+++ b/selfdrive/ui/qt/offroad/driverview.h
@@ -0,0 +1,21 @@
+#pragma once
+
+#include "selfdrive/ui/qt/widgets/cameraview.h"
+
+class DriverViewWindow : public CameraWidget {
+  Q_OBJECT
+
+public:
+  explicit DriverViewWindow(QWidget *parent);
+
+signals:
+  void done();
+
+protected:
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+  void paintGL() override;
+
+  Params params;
+  QPixmap face_img;
+};
--- a/selfdrive/ui/qt/offroad/experimental_mode.cc
+++ b/selfdrive/ui/qt/offroad/experimental_mode.cc
@@ -0,0 +1,76 @@
+#include "selfdrive/ui/qt/offroad/experimental_mode.h"
+
+#include <QDebug>
+#include <QHBoxLayout>
+#include <QPainter>
+#include <QPainterPath>
+#include <QStyle>
+
+#include "selfdrive/ui/ui.h"
+
+ExperimentalModeButton::ExperimentalModeButton(QWidget *parent) : QPushButton(parent) {
+  chill_pixmap = QPixmap("../assets/img_couch.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
+  experimental_pixmap = QPixmap("../assets/img_experimental_grey.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
+
+  // go to toggles and expand experimental mode description
+  connect(this, &QPushButton::clicked, [=]() { emit openSettings(2, "ExperimentalMode"); });
+
+  setFixedHeight(125);
+  QHBoxLayout *main_layout = new QHBoxLayout;
+  main_layout->setContentsMargins(horizontal_padding, 0, horizontal_padding, 0);
+
+  mode_label = new QLabel;
+  mode_icon = new QLabel;
+  mode_icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
+
+  main_layout->addWidget(mode_label, 1, Qt::AlignLeft);
+  main_layout->addWidget(mode_icon, 0, Qt::AlignRight);
+
+  setLayout(main_layout);
+
+  setStyleSheet(R"(
+    QPushButton {
+      border: none;
+    }
+
+    QLabel {
+      font-size: 45px;
+      font-weight: 300;
+      text-align: left;
+      font-family: JetBrainsMono;
+      color: #000000;
+    }
+  )");
+}
+
+void ExperimentalModeButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setPen(Qt::NoPen);
+  p.setRenderHint(QPainter::Antialiasing);
+
+  QPainterPath path;
+  path.addRoundedRect(rect(), 10, 10);
+
+  // gradient
+  bool pressed = isDown();
+  QLinearGradient gradient(rect().left(), 0, rect().right(), 0);
+  if (experimental_mode) {
+    gradient.setColorAt(0, QColor(255, 155, 63, pressed ? 0xcc : 0xff));
+    gradient.setColorAt(1, QColor(219, 56, 34, pressed ? 0xcc : 0xff));
+  } else {
+    gradient.setColorAt(0, QColor(20, 255, 171, pressed ? 0xcc : 0xff));
+    gradient.setColorAt(1, QColor(35, 149, 255, pressed ? 0xcc : 0xff));
+  }
+  p.fillPath(path, gradient);
+
+  // vertical line
+  p.setPen(QPen(QColor(0, 0, 0, 0x4d), 3, Qt::SolidLine));
+  int line_x = rect().right() - img_width - (2 * horizontal_padding);
+  p.drawLine(line_x, rect().bottom(), line_x, rect().top());
+}
+
+void ExperimentalModeButton::showEvent(QShowEvent *event) {
+  experimental_mode = params.getBool("ExperimentalMode");
+  mode_icon->setPixmap(experimental_mode ? experimental_pixmap : chill_pixmap);
+  mode_label->setText(experimental_mode ? tr("EXPERIMENTAL MODE ON") : tr("CHILL MODE ON"));
+}
--- a/selfdrive/ui/qt/offroad/experimental_mode.h
+++ b/selfdrive/ui/qt/offroad/experimental_mode.h
@@ -0,0 +1,31 @@
+#pragma once
+
+#include <QLabel>
+#include <QPushButton>
+
+#include "common/params.h"
+
+class ExperimentalModeButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  explicit ExperimentalModeButton(QWidget* parent = 0);
+
+signals:
+  void openSettings(int index = 0, const QString &toggle = "");
+
+private:
+  void showEvent(QShowEvent *event) override;
+
+  Params params;
+  bool experimental_mode;
+  int img_width = 100;
+  int horizontal_padding = 30;
+  QPixmap experimental_pixmap;
+  QPixmap chill_pixmap;
+  QLabel *mode_label;
+  QLabel *mode_icon;
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+};
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -0,0 +1,234 @@
+#include "selfdrive/ui/qt/offroad/onboarding.h"
+
+#include <string>
+
+#include <QLabel>
+#include <QPainter>
+#include <QQmlContext>
+#include <QQuickWidget>
+#include <QTransform>
+#include <QVBoxLayout>
+
+#include "common/util.h"
+#include "common/params.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+
+TrainingGuide::TrainingGuide(QWidget *parent) : QFrame(parent) {
+  setAttribute(Qt::WA_OpaquePaintEvent);
+}
+
+void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) {
+  if (click_timer.elapsed() < 250) {
+    return;
+  }
+  click_timer.restart();
+
+  auto contains = [this](QRect r, const QPoint &pt) {
+    if (image.size() != image_raw_size) {
+      QTransform transform;
+      transform.translate((width()- image.width()) / 2.0, (height()- image.height()) / 2.0);
+      transform.scale(image.width() / (float)image_raw_size.width(), image.height() / (float)image_raw_size.height());
+      r= transform.mapRect(r);
+    }
+    return r.contains(pt);
+  };
+
+  if (contains(boundingRect[currentIndex], e->pos())) {
+    if (currentIndex == 9) {
+      const QRect yes = QRect(707, 804, 531, 164);
+      Params().putBool("RecordFront", contains(yes, e->pos()));
+    }
+    currentIndex += 1;
+  } else if (currentIndex == (boundingRect.size() - 2) && contains(boundingRect.last(), e->pos())) {
+    currentIndex = 0;
+  }
+
+  if (currentIndex >= (boundingRect.size() - 1)) {
+    emit completedTraining();
+  } else {
+    update();
+  }
+}
+
+void TrainingGuide::showEvent(QShowEvent *event) {
+  currentIndex = 0;
+  click_timer.start();
+}
+
+QImage TrainingGuide::loadImage(int id) {
+  QImage img(img_path + QString("step%1.png").arg(id));
+  image_raw_size = img.size();
+  if (image_raw_size != rect().size()) {
+    img = img.scaled(width(), height(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
+  }
+  return img;
+}
+
+void TrainingGuide::paintEvent(QPaintEvent *event) {
+  QPainter painter(this);
+
+  QRect bg(0, 0, painter.device()->width(), painter.device()->height());
+  painter.fillRect(bg, QColor("#000000"));
+
+  image = loadImage(currentIndex);
+  QRect rect(image.rect());
+  rect.moveCenter(bg.center());
+  painter.drawImage(rect.topLeft(), image);
+
+  // progress bar
+  if (currentIndex > 0 && currentIndex < (boundingRect.size() - 2)) {
+    const int h = 20;
+    const int w = (currentIndex / (float)(boundingRect.size() - 2)) * width();
+    painter.fillRect(QRect(0, height() - h, w, h), QColor("#465BEA"));
+  }
+}
+
+void TermsPage::showEvent(QShowEvent *event) {
+  // late init, building QML widget takes 200ms
+  if (layout()) {
+    return;
+  }
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(45, 35, 45, 45);
+  main_layout->setSpacing(0);
+
+  QLabel *title = new QLabel(tr("Terms & Conditions"));
+  title->setStyleSheet("font-size: 90px; font-weight: 600;");
+  main_layout->addWidget(title);
+
+  main_layout->addSpacing(30);
+
+  QQuickWidget *text = new QQuickWidget(this);
+  text->setResizeMode(QQuickWidget::SizeRootObjectToView);
+  text->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+  text->setAttribute(Qt::WA_AlwaysStackOnTop);
+  text->setClearColor(QColor("#1B1B1B"));
+
+  QString text_view = util::read_file("../assets/offroad/tc.html").c_str();
+  text->rootContext()->setContextProperty("text_view", text_view);
+
+  text->setSource(QUrl::fromLocalFile("qt/offroad/text_view.qml"));
+
+  main_layout->addWidget(text, 1);
+  main_layout->addSpacing(50);
+
+  QObject *obj = (QObject*)text->rootObject();
+  QObject::connect(obj, SIGNAL(scroll()), SLOT(enableAccept()));
+
+  QHBoxLayout* buttons = new QHBoxLayout;
+  buttons->setMargin(0);
+  buttons->setSpacing(45);
+  main_layout->addLayout(buttons);
+
+  QPushButton *decline_btn = new QPushButton(tr("Decline"));
+  buttons->addWidget(decline_btn);
+  QObject::connect(decline_btn, &QPushButton::clicked, this, &TermsPage::declinedTerms);
+
+  accept_btn = new QPushButton(tr("Scroll to accept"));
+  accept_btn->setEnabled(false);
+  accept_btn->setStyleSheet(R"(
+    QPushButton {
+      background-color: #465BEA;
+    }
+    QPushButton:pressed {
+      background-color: #3049F4;
+    }
+    QPushButton:disabled {
+      background-color: #4F4F4F;
+    }
+  )");
+  buttons->addWidget(accept_btn);
+  QObject::connect(accept_btn, &QPushButton::clicked, this, &TermsPage::acceptedTerms);
+}
+
+void TermsPage::enableAccept() {
+  accept_btn->setText(tr("Agree"));
+  accept_btn->setEnabled(true);
+}
+
+void DeclinePage::showEvent(QShowEvent *event) {
+  if (layout()) {
+    return;
+  }
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setMargin(45);
+  main_layout->setSpacing(40);
+
+  QLabel *text = new QLabel(this);
+  text->setText(tr("You must accept the Terms and Conditions in order to use openpilot."));
+  text->setStyleSheet(R"(font-size: 80px; font-weight: 300; margin: 200px;)");
+  text->setWordWrap(true);
+  main_layout->addWidget(text, 0, Qt::AlignCenter);
+
+  QHBoxLayout* buttons = new QHBoxLayout;
+  buttons->setSpacing(45);
+  main_layout->addLayout(buttons);
+
+  QPushButton *back_btn = new QPushButton(tr("Back"));
+  buttons->addWidget(back_btn);
+
+  QObject::connect(back_btn, &QPushButton::clicked, this, &DeclinePage::getBack);
+
+  QPushButton *uninstall_btn = new QPushButton(tr("Decline, uninstall %1").arg(getBrand()));
+  uninstall_btn->setStyleSheet("background-color: #B73D3D");
+  buttons->addWidget(uninstall_btn);
+  QObject::connect(uninstall_btn, &QPushButton::clicked, [=]() {
+    Params().putBool("DoUninstall", true);
+  });
+}
+
+void OnboardingWindow::updateActiveScreen() {
+  if (!accepted_terms) {
+    setCurrentIndex(0);
+  } else if (!training_done && !params.getBool("Passive")) {
+    setCurrentIndex(1);
+  } else {
+    emit onboardingDone();
+  }
+}
+
+OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
+  std::string current_terms_version = params.get("TermsVersion");
+  std::string current_training_version = params.get("TrainingVersion");
+  accepted_terms = params.get("HasAcceptedTerms") == current_terms_version;
+  training_done = params.get("CompletedTrainingVersion") == current_training_version;
+
+  TermsPage* terms = new TermsPage(this);
+  addWidget(terms);
+  connect(terms, &TermsPage::acceptedTerms, [=]() {
+    Params().put("HasAcceptedTerms", current_terms_version);
+    accepted_terms = true;
+    updateActiveScreen();
+  });
+  connect(terms, &TermsPage::declinedTerms, [=]() { setCurrentIndex(2); });
+
+  TrainingGuide* tr = new TrainingGuide(this);
+  addWidget(tr);
+  connect(tr, &TrainingGuide::completedTraining, [=]() {
+    training_done = true;
+    Params().put("CompletedTrainingVersion", current_training_version);
+    updateActiveScreen();
+  });
+
+  DeclinePage* declinePage = new DeclinePage(this);
+  addWidget(declinePage);
+  connect(declinePage, &DeclinePage::getBack, [=]() { updateActiveScreen(); });
+
+  setStyleSheet(R"(
+    * {
+      color: white;
+      background-color: black;
+    }
+    QPushButton {
+      height: 160px;
+      font-size: 55px;
+      font-weight: 400;
+      border-radius: 10px;
+      background-color: #4F4F4F;
+    }
+  )");
+  updateActiveScreen();
+}
--- a/selfdrive/ui/qt/offroad/onboarding.h
+++ b/selfdrive/ui/qt/offroad/onboarding.h
@@ -0,0 +1,110 @@
+#pragma once
+
+#include <QElapsedTimer>
+#include <QImage>
+#include <QMouseEvent>
+#include <QPushButton>
+#include <QStackedWidget>
+#include <QWidget>
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/qt_window.h"
+
+class TrainingGuide : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit TrainingGuide(QWidget *parent = 0);
+
+private:
+  void showEvent(QShowEvent *event) override;
+  void paintEvent(QPaintEvent *event) override;
+  void mouseReleaseEvent(QMouseEvent* e) override;
+  QImage loadImage(int id);
+
+  QImage image;
+  QSize image_raw_size;
+  int currentIndex = 0;
+
+  // Bounding boxes for each training guide step
+  const QRect continueBtn = {1840, 0, 320, 1080};
+  QVector<QRect> boundingRect {
+    QRect(112, 804, 618, 164),
+    continueBtn,
+    continueBtn,
+    QRect(1641, 558, 210, 313),
+    QRect(1662, 528, 184, 108),
+    continueBtn,
+    QRect(1814, 621, 211, 170),
+    QRect(1350, 0, 497, 755),
+    QRect(1540, 386, 468, 238),
+    QRect(112, 804, 1126, 164),
+    QRect(1598, 199, 316, 333),
+    continueBtn,
+    QRect(1364, 90, 796, 990),
+    continueBtn,
+    QRect(1593, 114, 318, 853),
+    QRect(1379, 511, 391, 243),
+    continueBtn,
+    continueBtn,
+    QRect(630, 804, 626, 164),
+    QRect(108, 804, 426, 164),
+  };
+
+  const QString img_path = "../assets/training/";
+  QElapsedTimer click_timer;
+
+signals:
+  void completedTraining();
+};
+
+
+class TermsPage : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit TermsPage(QWidget *parent = 0) : QFrame(parent) {}
+
+public slots:
+  void enableAccept();
+
+private:
+  void showEvent(QShowEvent *event) override;
+
+  QPushButton *accept_btn;
+
+signals:
+  void acceptedTerms();
+  void declinedTerms();
+};
+
+class DeclinePage : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit DeclinePage(QWidget *parent = 0) : QFrame(parent) {}
+
+private:
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void getBack();
+};
+
+class OnboardingWindow : public QStackedWidget {
+  Q_OBJECT
+
+public:
+  explicit OnboardingWindow(QWidget *parent = 0);
+  inline void showTrainingGuide() { setCurrentIndex(1); }
+  inline bool completed() const { return accepted_terms && training_done; }
+
+private:
+  void updateActiveScreen();
+
+  Params params;
+  bool accepted_terms = false, training_done = false;
+
+signals:
+  void onboardingDone();
+};
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -0,0 +1,445 @@
+#include "selfdrive/ui/qt/offroad/settings.h"
+
+#include <cassert>
+#include <cmath>
+#include <string>
+#include <tuple>
+#include <vector>
+
+#include <QDebug>
+
+#include "selfdrive/ui/qt/network/networking.h"
+
+#include "common/params.h"
+#include "common/watchdog.h"
+#include "common/util.h"
+#include "system/hardware/hw.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+#include "selfdrive/ui/qt/widgets/ssh_keys.h"
+#include "selfdrive/ui/qt/widgets/toggle.h"
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/qt_window.h"
+
+TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
+  // param, title, desc, icon
+  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
+    {
+      "OpenpilotEnabledToggle",
+      tr("Enable openpilot"),
+      tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
+      "../assets/offroad/icon_openpilot.png",
+    },
+    {
+      "ExperimentalLongitudinalEnabled",
+      tr("openpilot Longitudinal Control (Alpha)"),
+      QString("<b>%1</b><br><br>%2")
+      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
+              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
+      "../assets/offroad/icon_speed_limit.png",
+    },
+    {
+      "ExperimentalMode",
+      tr("Experimental Mode"),
+      "",
+      "../assets/img_experimental_white.svg",
+    },
+    {
+      "DisengageOnAccelerator",
+      tr("Disengage on Accelerator Pedal"),
+      tr("When enabled, pressing the accelerator pedal will disengage openpilot."),
+      "../assets/offroad/icon_disengage_on_accelerator.svg",
+    },
+    {
+      "IsLdwEnabled",
+      tr("Enable Lane Departure Warnings"),
+      tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."),
+      "../assets/offroad/icon_warning.png",
+    },
+    {
+      "RecordFront",
+      tr("Record and Upload Driver Camera"),
+      tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
+      "../assets/offroad/icon_monitoring.png",
+    },
+    {
+      "IsMetric",
+      tr("Use Metric System"),
+      tr("Display speed in km/h instead of mph."),
+      "../assets/offroad/icon_metric.png",
+    },
+#ifdef ENABLE_MAPS
+    {
+      "NavSettingTime24h",
+      tr("Show ETA in 24h Format"),
+      tr("Use 24h format instead of am/pm"),
+      "../assets/offroad/icon_metric.png",
+    },
+    {
+      "NavSettingLeftSide",
+      tr("Show Map on Left Side of UI"),
+      tr("Show map on left side when in split screen view."),
+      "../assets/offroad/icon_road.png",
+    },
+#endif
+  };
+
+
+  std::vector<QString> longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")};
+  long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"),
+                                          tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. "
+                                             "In relaxed mode openpilot will stay further away from lead cars."),
+                                          "../assets/offroad/icon_speed_limit.png",
+                                          longi_button_texts);
+  for (auto &[param, title, desc, icon] : toggle_defs) {
+    auto toggle = new ParamControl(param, title, desc, icon, this);
+
+    bool locked = params.getBool((param + "Lock").toStdString());
+    toggle->setEnabled(!locked);
+
+    addItem(toggle);
+    toggles[param.toStdString()] = toggle;
+
+    // insert longitudinal personality after NDOG toggle
+    if (param == "DisengageOnAccelerator") {
+      addItem(long_personality_setting);
+    }
+  }
+
+  // Toggles with confirmation dialogs
+  toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg");
+  toggles["ExperimentalMode"]->setConfirmation(true, true);
+  toggles["ExperimentalLongitudinalEnabled"]->setConfirmation(true, false);
+
+  connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() {
+    updateToggles();
+  });
+}
+
+void TogglesPanel::expandToggleDescription(const QString &param) {
+  toggles[param.toStdString()]->showDescription();
+}
+
+void TogglesPanel::showEvent(QShowEvent *event) {
+  updateToggles();
+}
+
+void TogglesPanel::updateToggles() {
+  auto experimental_mode_toggle = toggles["ExperimentalMode"];
+  auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
+  const QString e2e_description = QString("%1<br>"
+                                          "<h4>%2</h4><br>"
+                                          "%3<br>"
+                                          "<h4>%4</h4><br>"
+                                          "%5<br>"
+                                          "<h4>%6</h4><br>"
+                                          "%7")
+                                  .arg(tr("openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:"))
+                                  .arg(tr("End-to-End Longitudinal Control"))
+                                  .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. "
+                                          "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; "
+                                          "mistakes should be expected."))
+                                  .arg(tr("Navigate on openpilot"))
+                                  .arg(tr("When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right "
+                                          "appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around "
+                                          "exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc."))
+                                  .arg(tr("New Driving Visualization"))
+                                  .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. "
+                                          "When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green."));
+
+  const bool is_release = params.getBool("IsReleaseBranch");
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
+      params.remove("ExperimentalLongitudinalEnabled");
+    }
+    op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
+    if (hasLongitudinalControl(CP)) {
+      // normal description and toggle
+      experimental_mode_toggle->setEnabled(true);
+      experimental_mode_toggle->setDescription(e2e_description);
+      long_personality_setting->setEnabled(true);
+    } else {
+      // no long for now
+      experimental_mode_toggle->setEnabled(false);
+      long_personality_setting->setEnabled(false);
+      params.remove("ExperimentalMode");
+
+      const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
+
+      QString long_desc = unavailable + " " + \
+                          tr("openpilot longitudinal control may come in a future update.");
+      if (CP.getExperimentalLongitudinalAvailable()) {
+        if (is_release) {
+          long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
+        } else {
+          long_desc = tr("Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.");
+        }
+      }
+      experimental_mode_toggle->setDescription("<b>" + long_desc + "</b><br><br>" + e2e_description);
+    }
+
+    experimental_mode_toggle->refresh();
+  } else {
+    experimental_mode_toggle->setDescription(e2e_description);
+    op_long_toggle->setVisible(false);
+  }
+}
+
+DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
+  setSpacing(50);
+  addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A"))));
+  addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str()));
+
+  // offroad-only buttons
+
+  auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
+                                   tr("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"));
+  connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
+  addItem(dcamBtn);
+
+  auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
+  connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription);
+  connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) {
+      params.remove("CalibrationParams");
+      params.remove("LiveTorqueParameters");
+    }
+  });
+  addItem(resetCalibBtn);
+
+  if (!params.getBool("Passive")) {
+    auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot"));
+    connect(retrainingBtn, &ButtonControl::clicked, [=]() {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
+        emit reviewTrainingGuide();
+      }
+    });
+    addItem(retrainingBtn);
+  }
+
+  if (Hardware::TICI()) {
+    auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), "");
+    connect(regulatoryBtn, &ButtonControl::clicked, [=]() {
+      const std::string txt = util::read_file("../assets/offroad/fcc.html");
+      ConfirmationDialog::rich(QString::fromStdString(txt), this);
+    });
+    addItem(regulatoryBtn);
+  }
+
+  auto translateBtn = new ButtonControl(tr("Change Language"), tr("CHANGE"), "");
+  connect(translateBtn, &ButtonControl::clicked, [=]() {
+    QMap<QString, QString> langs = getSupportedLanguages();
+    QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this);
+    if (!selection.isEmpty()) {
+      // put language setting, exit Qt UI, and trigger fast restart
+      params.put("LanguageSetting", langs[selection].toStdString());
+      qApp->exit(18);
+      watchdog_kick(0);
+    }
+  });
+  addItem(translateBtn);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+    for (auto btn : findChildren<ButtonControl *>()) {
+      btn->setEnabled(offroad);
+    }
+  });
+
+  // power buttons
+  QHBoxLayout *power_layout = new QHBoxLayout();
+  power_layout->setSpacing(30);
+
+  QPushButton *reboot_btn = new QPushButton(tr("Reboot"));
+  reboot_btn->setObjectName("reboot_btn");
+  power_layout->addWidget(reboot_btn);
+  QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot);
+
+  QPushButton *poweroff_btn = new QPushButton(tr("Power Off"));
+  poweroff_btn->setObjectName("poweroff_btn");
+  power_layout->addWidget(poweroff_btn);
+  QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff);
+
+  if (!Hardware::PC()) {
+    connect(uiState(), &UIState::offroadTransition, poweroff_btn, &QPushButton::setVisible);
+  }
+
+  setStyleSheet(R"(
+    #reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; }
+    #reboot_btn:pressed { background-color: #4a4a4a; }
+    #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
+    #poweroff_btn:pressed { background-color: #FF2424; }
+  )");
+  addItem(power_layout);
+}
+
+void DevicePanel::updateCalibDescription() {
+  QString desc =
+      tr("openpilot requires the device to be mounted within 4° left or right and "
+         "within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.");
+  std::string calib_bytes = params.get("CalibrationParams");
+  if (!calib_bytes.empty()) {
+    try {
+      AlignedBuffer aligned_buf;
+      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
+      auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
+      if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) {
+        double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
+        double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
+        desc += tr(" Your device is pointed %1° %2 and %3° %4.")
+                    .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"),
+                         QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right"));
+      }
+    } catch (kj::Exception) {
+      qInfo() << "invalid CalibrationParams";
+    }
+  }
+  qobject_cast<ButtonControl *>(sender())->setDescription(desc);
+}
+
+void DevicePanel::reboot() {
+  if (!uiState()->engaged()) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), tr("Reboot"), this)) {
+      // Check engaged again in case it changed while the dialog was open
+      if (!uiState()->engaged()) {
+        params.putBool("DoReboot", true);
+      }
+    }
+  } else {
+    ConfirmationDialog::alert(tr("Disengage to Reboot"), this);
+  }
+}
+
+void DevicePanel::poweroff() {
+  if (!uiState()->engaged()) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) {
+      // Check engaged again in case it changed while the dialog was open
+      if (!uiState()->engaged()) {
+        params.putBool("DoShutdown", true);
+      }
+    }
+  } else {
+    ConfirmationDialog::alert(tr("Disengage to Power Off"), this);
+  }
+}
+
+void SettingsWindow::showEvent(QShowEvent *event) {
+  setCurrentPanel(0);
+}
+
+void SettingsWindow::setCurrentPanel(int index, const QString &param) {
+  panel_widget->setCurrentIndex(index);
+  nav_btns->buttons()[index]->setChecked(true);
+  if (!param.isEmpty()) {
+    emit expandToggleDescription(param);
+  }
+}
+
+SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
+
+  // setup two main layouts
+  sidebar_widget = new QWidget;
+  QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
+  sidebar_layout->setMargin(0);
+  panel_widget = new QStackedWidget();
+
+  // close button
+  QPushButton *close_btn = new QPushButton(tr("×"));
+  close_btn->setStyleSheet(R"(
+    QPushButton {
+      font-size: 140px;
+      padding-bottom: 20px;
+      border 1px grey solid;
+      border-radius: 100px;
+      background-color: #292929;
+      font-weight: 400;
+    }
+    QPushButton:pressed {
+      background-color: #3B3B3B;
+    }
+  )");
+  close_btn->setFixedSize(200, 200);
+  sidebar_layout->addSpacing(45);
+  sidebar_layout->addWidget(close_btn, 0, Qt::AlignCenter);
+  QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindow::closeSettings);
+
+  // setup panels
+  DevicePanel *device = new DevicePanel(this);
+  QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
+  QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView);
+
+  TogglesPanel *toggles = new TogglesPanel(this);
+  QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
+
+  QList<QPair<QString, QWidget *>> panels = {
+    {tr("Device"), device},
+    {tr("Network"), new Networking(this)},
+    {tr("Toggles"), toggles},
+    {tr("Software"), new SoftwarePanel(this)},
+  };
+
+  nav_btns = new QButtonGroup(this);
+  for (auto &[name, panel] : panels) {
+    QPushButton *btn = new QPushButton(name);
+    btn->setCheckable(true);
+    btn->setChecked(nav_btns->buttons().size() == 0);
+    btn->setStyleSheet(R"(
+      QPushButton {
+        color: grey;
+        border: none;
+        background: none;
+        font-size: 65px;
+        font-weight: 500;
+      }
+      QPushButton:checked {
+        color: white;
+      }
+      QPushButton:pressed {
+        color: #ADADAD;
+      }
+    )");
+    btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+    nav_btns->addButton(btn);
+    sidebar_layout->addWidget(btn, 0, Qt::AlignRight);
+
+    const int lr_margin = name != tr("Network") ? 50 : 0;  // Network panel handles its own margins
+    panel->setContentsMargins(lr_margin, 25, lr_margin, 25);
+
+    ScrollView *panel_frame = new ScrollView(panel, this);
+    panel_widget->addWidget(panel_frame);
+
+    QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
+      btn->setChecked(true);
+      panel_widget->setCurrentWidget(w);
+    });
+  }
+  sidebar_layout->setContentsMargins(50, 50, 100, 50);
+
+  // main settings layout, sidebar + main panel
+  QHBoxLayout *main_layout = new QHBoxLayout(this);
+
+  sidebar_widget->setFixedWidth(500);
+  main_layout->addWidget(sidebar_widget);
+  main_layout->addWidget(panel_widget);
+
+  setStyleSheet(R"(
+    * {
+      color: white;
+      font-size: 50px;
+    }
+    SettingsWindow {
+      background-color: black;
+    }
+    QStackedWidget, ScrollView {
+      background-color: #292929;
+      border-radius: 30px;
+    }
+  )");
+}
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -0,0 +1,95 @@
+#pragma once
+
+#include <map>
+#include <string>
+
+#include <QButtonGroup>
+#include <QFrame>
+#include <QLabel>
+#include <QPushButton>
+#include <QStackedWidget>
+#include <QWidget>
+
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+
+// ********** settings window + top-level panels **********
+class SettingsWindow : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit SettingsWindow(QWidget *parent = 0);
+  void setCurrentPanel(int index, const QString &param = "");
+
+protected:
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void closeSettings();
+  void reviewTrainingGuide();
+  void showDriverView();
+  void expandToggleDescription(const QString &param);
+
+private:
+  QPushButton *sidebar_alert_widget;
+  QWidget *sidebar_widget;
+  QButtonGroup *nav_btns;
+  QStackedWidget *panel_widget;
+};
+
+class DevicePanel : public ListWidget {
+  Q_OBJECT
+public:
+  explicit DevicePanel(SettingsWindow *parent);
+signals:
+  void reviewTrainingGuide();
+  void showDriverView();
+
+private slots:
+  void poweroff();
+  void reboot();
+  void updateCalibDescription();
+
+private:
+  Params params;
+};
+
+class TogglesPanel : public ListWidget {
+  Q_OBJECT
+public:
+  explicit TogglesPanel(SettingsWindow *parent);
+  void showEvent(QShowEvent *event) override;
+
+public slots:
+  void expandToggleDescription(const QString &param);
+
+private:
+  Params params;
+  std::map<std::string, ParamControl*> toggles;
+  ButtonParamControl *long_personality_setting;
+
+  void updateToggles();
+};
+
+class SoftwarePanel : public ListWidget {
+  Q_OBJECT
+public:
+  explicit SoftwarePanel(QWidget* parent = nullptr);
+
+private:
+  void showEvent(QShowEvent *event) override;
+  void updateLabels();
+  void checkForUpdates();
+
+  bool is_onroad = false;
+
+  QLabel *onroadLbl;
+  LabelControl *versionLbl;
+  ButtonControl *installBtn;
+  ButtonControl *downloadBtn;
+  ButtonControl *targetBranchBtn;
+
+  Params params;
+  ParamWatcher *fs_watch;
+};
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ b/selfdrive/ui/qt/offroad/software_settings.cc
@@ -0,0 +1,156 @@
+#include "selfdrive/ui/qt/offroad/settings.h"
+
+#include <cassert>
+#include <cmath>
+#include <string>
+
+#include <QDebug>
+#include <QLabel>
+
+#include "common/params.h"
+#include "common/util.h"
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "system/hardware/hw.h"
+
+
+void SoftwarePanel::checkForUpdates() {
+  std::system("pkill -SIGUSR1 -f selfdrive.updated");
+}
+
+SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
+  onroadLbl = new QLabel(tr("Updates are only downloaded while the car is off."));
+  onroadLbl->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; padding-top: 30px; padding-bottom: 30px;");
+  addItem(onroadLbl);
+
+  // current version
+  versionLbl = new LabelControl(tr("Current Version"), "");
+  addItem(versionLbl);
+
+  // download update btn
+  downloadBtn = new ButtonControl(tr("Download"), tr("CHECK"));
+  connect(downloadBtn, &ButtonControl::clicked, [=]() {
+    downloadBtn->setEnabled(false);
+    if (downloadBtn->text() == tr("CHECK")) {
+      checkForUpdates();
+    } else {
+      std::system("pkill -SIGHUP -f selfdrive.updated");
+    }
+  });
+  addItem(downloadBtn);
+
+  // install update btn
+  installBtn = new ButtonControl(tr("Install Update"), tr("INSTALL"));
+  connect(installBtn, &ButtonControl::clicked, [=]() {
+    installBtn->setEnabled(false);
+    params.putBool("DoReboot", true);
+  });
+  addItem(installBtn);
+
+  // branch selecting
+  targetBranchBtn = new ButtonControl(tr("Target Branch"), tr("SELECT"));
+  connect(targetBranchBtn, &ButtonControl::clicked, [=]() {
+    auto current = params.get("GitBranch");
+    QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
+    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "master-ci", "master"}) {
+      auto i = branches.indexOf(b);
+      if (i >= 0) {
+        branches.removeAt(i);
+        branches.insert(0, b);
+      }
+    }
+
+    QString cur = QString::fromStdString(params.get("UpdaterTargetBranch"));
+    QString selection = MultiOptionDialog::getSelection(tr("Select a branch"), branches, cur, this);
+    if (!selection.isEmpty()) {
+      params.put("UpdaterTargetBranch", selection.toStdString());
+      targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));
+      checkForUpdates();
+    }
+  });
+  if (!params.getBool("IsTestedBranch")) {
+    addItem(targetBranchBtn);
+  }
+
+  // uninstall button
+  auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL"));
+  connect(uninstallBtn, &ButtonControl::clicked, [&]() {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), tr("Uninstall"), this)) {
+      params.putBool("DoUninstall", true);
+    }
+  });
+  addItem(uninstallBtn);
+
+  fs_watch = new ParamWatcher(this);
+  QObject::connect(fs_watch, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    updateLabels();
+  });
+
+  connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+    is_onroad = !offroad;
+    updateLabels();
+  });
+
+  updateLabels();
+}
+
+void SoftwarePanel::showEvent(QShowEvent *event) {
+  // nice for testing on PC
+  installBtn->setEnabled(true);
+
+  updateLabels();
+}
+
+void SoftwarePanel::updateLabels() {
+  // add these back in case the files got removed
+  fs_watch->addParam("LastUpdateTime");
+  fs_watch->addParam("UpdateFailedCount");
+  fs_watch->addParam("UpdaterState");
+  fs_watch->addParam("UpdateAvailable");
+
+  if (!isVisible()) {
+    return;
+  }
+
+  // updater only runs offroad
+  onroadLbl->setVisible(is_onroad);
+  downloadBtn->setVisible(!is_onroad);
+
+  // download update
+  QString updater_state = QString::fromStdString(params.get("UpdaterState"));
+  bool failed = std::atoi(params.get("UpdateFailedCount").c_str()) > 0;
+  if (updater_state != "idle") {
+    downloadBtn->setEnabled(false);
+    downloadBtn->setValue(updater_state);
+  } else {
+    if (failed) {
+      downloadBtn->setText(tr("CHECK"));
+      downloadBtn->setValue(tr("failed to check for update"));
+    } else if (params.getBool("UpdaterFetchAvailable")) {
+      downloadBtn->setText(tr("DOWNLOAD"));
+      downloadBtn->setValue(tr("update available"));
+    } else {
+      QString lastUpdate = tr("never");
+      auto tm = params.get("LastUpdateTime");
+      if (!tm.empty()) {
+        lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate));
+      }
+      downloadBtn->setText(tr("CHECK"));
+      downloadBtn->setValue(tr("up to date, last checked %1").arg(lastUpdate));
+    }
+    downloadBtn->setEnabled(true);
+  }
+  targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));
+
+  // current + new versions
+  versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription")));
+  versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes")));
+
+  installBtn->setVisible(!is_onroad && params.getBool("UpdateAvailable"));
+  installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription")));
+  installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes")));
+
+  update();
+}
--- a/selfdrive/ui/qt/offroad/text_view.qml
+++ b/selfdrive/ui/qt/offroad/text_view.qml
@@ -0,0 +1,47 @@
+import QtQuick 2.0
+
+Item {
+  id: root
+  signal scroll()
+
+  Flickable {
+    id: flickArea
+    objectName: "flickArea"
+    anchors.fill: parent
+    contentHeight: helpText.height
+    contentWidth: width - (leftMargin + rightMargin)
+    bottomMargin: 50
+    topMargin: 50
+    rightMargin: 50
+    leftMargin: 50
+    flickableDirection: Flickable.VerticalFlick
+    flickDeceleration: 7500.0
+    maximumFlickVelocity: 10000.0
+    pixelAligned: true
+
+    onAtYEndChanged: root.scroll()
+
+    Text {
+      id: helpText
+      width: flickArea.contentWidth
+      font.family: "Inter"
+      font.weight: "Light"
+      font.pixelSize: 50
+      textFormat: Text.RichText
+      color: "#C9C9C9"
+      wrapMode: Text.Wrap
+      text: text_view
+    }
+  }
+
+  Rectangle {
+    id: scrollbar
+    anchors.right: flickArea.right
+    anchors.rightMargin: 20
+    y: flickArea.topMargin + flickArea.visibleArea.yPosition * (flickArea.height - flickArea.bottomMargin - flickArea.topMargin)
+    width: 12
+    radius: 6
+    height: flickArea.visibleArea.heightRatio * (flickArea.height - flickArea.bottomMargin - flickArea.topMargin)
+    color: "#808080"
+  }
+}