The rest

2024-01-15 06:17:49 -07:00
parent deb2b8d247
commit 458b51c60b
43 changed files with 376 additions and 156 deletions
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -213,19 +213,21 @@ def crash_log(candidate):
  control_keys, vehicle_keys, visual_keys = [
    "AdjustablePersonalities", "AlwaysOnLateral", "AlwaysOnLateralMain", "ConditionalExperimental", "CESpeed", "CESpeedLead", "CECurves",
    "CECurvesLead", "CENavigation", "CESignal", "CESlowerLead", "CEStopLights", "CEStopLightsLead", "CustomPersonalities", "AggressiveFollow",
-    "AggressiveJerk", "StandardFollow", "StandardJerk", "RelaxedFollow", "RelaxedJerk", "DeviceShutdown", "ExperimentalModeViaPress",
-    "FireTheBabysitter", "NoLogging", "MuteDM", "MuteDoor", "MuteSeatbelt", "MuteOverheated", "LateralTune", "AverageCurvature", "NNFF",
-    "LongitudinalTune", "AccelerationProfile", "StoppingDistance", "AggressiveAcceleration", "SmoothBraking", "Model", "MTSCEnabled",
-    "NudgelessLaneChange", "LaneChangeTime", "LaneDetection", "OneLaneChange", "QOLControls", "HigherBitrate", "PauseLateralOnSignal", "ReverseCruise",
-    "SetSpeedOffset", "SpeedLimitController", "SLCFallback","SLCOverride", "SLCPriority", "Offset1", "Offset2", "Offset3", "Offset4", "TurnDesires",
+    "AggressiveJerk", "StandardFollow", "StandardJerk", "RelaxedFollow", "RelaxedJerk", "DeviceShutdown", "ExperimentalModeActivation",
+    "ExperimentalModeViaLKAS", "ExperimentalModeViaScreen", "FireTheBabysitter", "NoLogging", "MuteDM", "MuteDoor", "MuteSeatbelt",
+    "MuteOverheated", "LateralTune", "AverageCurvature", "NNFF", "LongitudinalTune", "AccelerationProfile", "StoppingDistance",
+    "AggressiveAcceleration", "SmoothBraking", "Model", "MTSCEnabled", "MTSCAggressiveness", "NudgelessLaneChange", "LaneChangeTime",
+    "LaneDetection", "OneLaneChange", "QOLControls", "HigherBitrate", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset",
+    "SpeedLimitController", "SLCFallback","SLCOverride", "SLCPriority", "Offset1", "Offset2", "Offset3", "Offset4", "TurnDesires",
    "VisionTurnControl", "CurveSensitivity", "TurnAggressiveness", "DisableOnroadUploads", "OfflineMode"
  ], [
    "EVTable", "GasRegenCmd", "LongPitch", "LowerVolt", "LockDoors", "SNGHack", "TSS2Tune"
  ], [
-    "CustomTheme", "CustomColors", "CustomIcons", "CustomSignals", "CustomSounds", "GoatScream", "CameraView", "Compass", "CustomUI", "LaneLinesWidth",
-    "RoadEdgesWidth", "PathWidth", "PathEdgeWidth", "AccelerationPath", "AdjacentPath", "BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI", "UnlimitedLength",
-    "DriverCamera", "GreenLightAlert", "ModelUI", "QOLVisuals", "FullMap", "HideSpeed", "RandomEvents", "RotatingWheel", "ScreenBrightness", "Sidebar", "SilentMode",
-    "WheelIcon", "NumericalTemp", "Fahrenheit", "ShowCPU", "ShowGPU", "ShowMemoryUsage", "ShowSLCOffset", "ShowStorageLeft", "ShowStorageUsed", "UseSI"
+    "CustomTheme", "CustomColors", "CustomIcons", "CustomSignals", "CustomSounds", "GoatScream", "CameraView", "Compass", "CustomUI", "AdjacentPath",
+    "BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI", "UseVienna", "ModelUI", "AccelerationPath", "LaneLinesWidth", "PathEdgeWidth", "PathWidth",
+    "RoadEdgesWidth", "UnlimitedLength", "DriverCamera", "GreenLightAlert", "QOLVisuals", "UseSI", "DriveStats", "HideSpeed", "RandomEvents",
+    "RotatingWheel", "ScreenBrightness", "Sidebar", "SilentMode", "WheelIcon", "NumericalTemp", "Fahrenheit", "ShowCPU", "ShowGPU", "ShowMemoryUsage",
+    "ShowSLCOffset", "ShowStorageLeft", "ShowStorageUsed", "UseSI"
  ]

  control_params, vehicle_params, visual_params = map(lambda keys: get_frogpilot_params(params, keys), [control_keys, vehicle_keys, visual_keys])
@@ -258,8 +260,8 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
  if get_branch() == "origin/FrogPilot-Development" and dongle_id[:3] != "be6":
    candidate = "mock"

-  x = threading.Thread(target=crash_log, args=(candidate,))
-  x.start()
+  setFingerprintLog = threading.Thread(target=crash_log, args=(candidate,))
+  setFingerprintLog.start()

  CarInterface, CarController, CarState = interfaces[candidate]
  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -44,8 +44,12 @@ class CarState(CarStateBase):
    self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0) and not moving_forward

    if self.CP.enableBsm:
-      ret.leftBlindspot = pt_cp.vl["BCMBSM"]["Left_BSM"] == 1
-      ret.rightBlindspot = pt_cp.vl["BCMBSM"]["Right_BSM"] == 1
+      if self.CP.carFingerprint in SDGM_CAR:
+        ret.leftBlindspot = cam_cp.vl["BCMBSM"]["Left_BSM"] == 1
+        ret.rightBlindspot = cam_cp.vl["BCMBSM"]["Right_BSM"] == 1
+      else:
+        ret.leftBlindspot = pt_cp.vl["BCMBSM"]["Left_BSM"] == 1
+        ret.rightBlindspot = pt_cp.vl["BCMBSM"]["Right_BSM"] == 1

    # Variables used for avoiding LKAS faults
    self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
@@ -195,7 +199,7 @@ class CarState(CarStateBase):
        self.previous_personality_profile = self.personality_profile

    # Toggle Experimental Mode from steering wheel function
-    if self.experimental_mode_via_press and ret.cruiseState.available:
+    if self.experimental_mode_via_lkas and ret.cruiseState.available:
      if self.CP.carFingerprint in SDGM_CAR:
        lkas_pressed = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
      else:
@@ -228,6 +232,8 @@ class CarState(CarStateBase):
          ("BCMGeneralPlatformStatus", 10),
          ("ASCMSteeringButton", 33),
        ]
+        if CP.enableBsm:
+          messages.append(("BCMBSM", 10))
      else:
        messages += [
          ("AEBCmd", 10),
@@ -251,10 +257,6 @@ class CarState(CarStateBase):
      ("ECMAcceleratorPos", 80),
    ]

-    # BSM does not send a signal until the first instance of it lighting up
-    messages.append(("left_blindspot", 0))
-    messages.append(("right_blindspot", 0))
-
    if CP.carFingerprint in SDGM_CAR:
      messages += [
        ("ECMPRDNL2", 40),
@@ -271,6 +273,8 @@ class CarState(CarStateBase):
        ("BCMGeneralPlatformStatus", 10),
        ("ASCMSteeringButton", 33),
      ]
+      if CP.enableBsm:
+        messages.append(("BCMBSM", 10))

    # Used to read back last counter sent to PT by camera
    if CP.networkLocation == NetworkLocation.fwdCamera:
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -65,7 +65,6 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
    "GasRegenFullStopActive": at_full_stop,
    "GasRegenAlwaysOne": 1,
    "GasRegenAlwaysOne2": 1,
-    "GasRegenAlwaysOne3": 1,
  }

  dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -81,7 +81,7 @@ class CarInterface(CarInterfaceBase):
  @staticmethod
  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
    # FrogPilot variables
-    params = params()
+    params = Params()
    useGasRegenCmd = params.get_bool("GasRegenCmd")

    ret.carName = "gm"
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -253,7 +253,7 @@ class CarController:
    if self.frame % 10 == 0:
      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, CS.personality_profile + 1,
                    hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud, CC.latActive))

      if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
        self.speed = pcm_speed
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -288,7 +288,7 @@ class CarState(CarStateBase):
        self.previous_personality_profile = self.personality_profile

    # Toggle Experimental Mode from steering wheel function
-    if self.experimental_mode_via_press and ret.cruiseState.available:
+    if self.experimental_mode_via_lkas and ret.cruiseState.available:
      lkas_pressed = self.cruise_setting == 1
      if lkas_pressed and not self.lkas_previously_pressed:
        if self.conditional_experimental_mode:
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -122,7 +122,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint):
  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)


-def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud, lat_active):
  commands = []
  bus_pt = get_pt_bus(CP.carFingerprint)
  radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
@@ -155,7 +155,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
  lkas_hud_values = {
    'SET_ME_X41': 0x41,
    'STEERING_REQUIRED': hud.steer_required,
-    'SOLID_LANES': hud.lanes_visible,
+    'SOLID_LANES': lat_active,
    'BEEP': 0,
  }

--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -184,7 +184,7 @@ class CarState(CarStateBase):
        self.previous_personality_profile = self.personality_profile

    # Toggle Experimental Mode from steering wheel function
-    if self.experimental_mode_via_press and ret.cruiseState.available:
+    if self.experimental_mode_via_lkas and ret.cruiseState.available:
      lkas_pressed = cp.vl["BCM_PO_11"]["LFA_Pressed"]
      if lkas_pressed and not self.lkas_previously_pressed:
        if self.conditional_experimental_mode:
@@ -300,7 +300,7 @@ class CarState(CarStateBase):
        self.previous_personality_profile = self.personality_profile

    # Toggle Experimental Mode from steering wheel function
-    if self.experimental_mode_via_press and ret.cruiseState.available:
+    if self.experimental_mode_via_lkas and ret.cruiseState.available:
      lkas_pressed = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
      if lkas_pressed and not self.lkas_previously_pressed:
        if self.conditional_experimental_mode:
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -596,7 +596,7 @@ class CarStateBase(ABC):

  def update_frogpilot_params(self, params):
    self.conditional_experimental_mode = params.get_bool("ConditionalExperimental")
-    self.experimental_mode_via_press = params.get_bool("ExperimentalModeViaPress")
+    self.experimental_mode_via_lkas = params.get_bool("ExperimentalModeViaLKAS") and params.get_bool("ExperimentalModeActivation");
    self.personalities_via_wheel = params.get_int("AdjustablePersonalities") in {1, 3}

 INTERFACE_ATTR_FILE = {
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -208,7 +208,7 @@ class CarState(CarStateBase):
          self.previous_personality_profile = self.personality_profile

    # Toggle Experimental Mode from steering wheel function
-    if self.experimental_mode_via_press and ret.cruiseState.available and self.CP.carFingerprint != CAR.PRIUS_V:
+    if self.experimental_mode_via_lkas and ret.cruiseState.available and self.CP.carFingerprint != CAR.PRIUS_V:
      message_keys = ["LDA_ON_MESSAGE", "SET_ME_X02"]
      lkas_pressed = any(self.lkas_hud.get(key) == 1 for key in message_keys)
      if lkas_pressed and not self.lkas_previously_pressed:
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -236,11 +236,11 @@ class CarInterface(CarInterfaceBase):
    # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
    use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
    if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
-      ret.experimentalLongitudinalAvailable = use_sdsu
+      ret.experimentalLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR

      if not use_sdsu:
        # Disabling radar is only supported on TSS2 radar-ACC cars
-        if experimental_long and candidate in RADAR_ACC_CAR and False:  # TODO: disabling radar isn't supported yet
+        if experimental_long and candidate in RADAR_ACC_CAR:
          ret.flags |= ToyotaFlags.DISABLE_RADAR.value
      else:
        use_sdsu = use_sdsu and experimental_long
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -988,7 +988,8 @@ class Controls:

        # Update FrogPilot parameters
        if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
-          self.update_frogpilot_params()
+          updateFrogPilotParams = threading.Thread(target=self.update_frogpilot_params)
+          updateFrogPilotParams.start()

    except SystemExit:
      e.set()
@@ -1010,7 +1011,7 @@ class Controls:
    self.green_light_alert = self.params.get_bool("GreenLightAlert")

    lateral_tune = self.params.get_bool("LateralTune")
-    self.steer_ratio = self.params.get_int("SteerRatio") / 100 if lateral_tune else self.params.get_int("SteerRatioStock") / 100
+    self.steer_ratio = self.params.get_float("SteerRatio") if lateral_tune else self.params.get_float("SteerRatioStock")

    longitudinal_tune = self.params.get_bool("LongitudinalTune")
    self.sport_plus = self.params.get_int("AccelerationProfile") == 3 and longitudinal_tune
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -56,7 +56,7 @@ T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
 STOP_DISTANCE = 6.0

-def get_jerk_factor(custom_personalities, aggressive_jerk, standard_jerk, relaxed_jerk, personality=log.LongitudinalPersonality.standard):
+def get_jerk_factor(custom_personalities=False, aggressive_jerk=0.5, standard_jerk=1.0, relaxed_jerk=1.0, personality=log.LongitudinalPersonality.standard):
  if custom_personalities:
    if personality==log.LongitudinalPersonality.relaxed:
      return relaxed_jerk
@@ -241,6 +241,13 @@ def gen_long_ocp():

 class LongitudinalMpc:
  def __init__(self, mode='acc'):
+    # FrogPilot variables
+    self.safe_obstacle_distance = 0
+    self.safe_obstacle_distance_stock = 0
+    self.stopped_equivalence_factor = 0
+    self.t_follow = 0
+    self.t_follow_offset = 1
+
    self.mode = mode
    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
    self.reset()
@@ -292,8 +299,9 @@ class LongitudinalMpc:
    for i in range(N):
      self.solver.cost_set(i, 'Zl', Zl)

-  def set_weights(self, custom_personalities, aggressive_jerk, standard_jerk, relaxed_jerk, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
+  def set_weights(self, prev_accel_constraint=True, custom_personalities=False, aggressive_jerk=0.5, standard_jerk=1.0, relaxed_jerk=1.0, personality=log.LongitudinalPersonality.standard):
    jerk_factor = get_jerk_factor(custom_personalities, aggressive_jerk, standard_jerk, relaxed_jerk, personality)
+    jerk_factor /= np.mean(self.t_follow_offset)
    if self.mode == 'acc':
      a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
@@ -351,7 +359,7 @@ class LongitudinalMpc:
    self.cruise_min_a = min_a
    self.max_a = max_a

-  def update(self, radarstate, v_cruise, x, v, a, j, aggressive_acceleration, smoother_braking, custom_personalities, aggressive_follow, standard_follow, relaxed_follow, increased_stopping_distance, personality=log.LongitudinalPersonality.standard):
+  def update(self, radarstate, v_cruise, x, v, a, j, aggressive_acceleration, increased_stopping_distance, smoother_braking, custom_personalities, aggressive_follow, standard_follow, relaxed_follow, personality=log.LongitudinalPersonality.standard):
    t_follow = get_T_FOLLOW(custom_personalities, aggressive_follow, standard_follow, relaxed_follow, personality)
    self.t_follow = t_follow
    v_ego = self.x0[1]
@@ -363,8 +371,9 @@ class LongitudinalMpc:
    # Offset by FrogAi for FrogPilot for a more natural takeoff with a lead
    if aggressive_acceleration:
      distance_factor = np.maximum(1, lead_xv_0[:,0] - (lead_xv_0[:,1] * t_follow))
-      t_follow_offset = np.clip((lead_xv_0[:,1] - v_ego) + (STOP_DISTANCE + increased_stopping_distance - v_ego), 1, distance_factor)
-      t_follow = t_follow / t_follow_offset
+      standstill_offset = max(STOP_DISTANCE + increased_stopping_distance - (v_ego**COMFORT_BRAKE), 0)
+      self.t_follow_offset = np.clip((lead_xv_0[:,1] - v_ego) + standstill_offset, 1, distance_factor)
+      t_follow = t_follow / self.t_follow_offset

    # Offset by FrogAi for FrogPilot for a more natural approach to a slower lead
    if smoother_braking:
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -135,7 +135,7 @@ class LongitudinalPlanner:
    accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
    accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)

-    self.mpc.set_weights(frogpilot_planner.custom_personalities, frogpilot_planner.aggressive_jerk, frogpilot_planner.standard_jerk, frogpilot_planner.relaxed_jerk, prev_accel_constraint, personality=self.personality)
+    self.mpc.set_weights(prev_accel_constraint, frogpilot_planner.custom_personalities, frogpilot_planner.aggressive_jerk, frogpilot_planner.standard_jerk, frogpilot_planner.relaxed_jerk, personality=self.personality)
    self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
    self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
    x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import os
 import numpy as np
+import threading
 from cereal import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
@@ -41,7 +42,7 @@ def plannerd_thread():

  debug_mode = bool(int(os.getenv("DEBUG", "0")))

-  frogpilot_planner = FrogPilotPlanner(params)
+  frogpilot_planner = FrogPilotPlanner(params, params_memory)
  longitudinal_planner = LongitudinalPlanner(CP)
  lateral_planner = LateralPlanner(CP, debug=debug_mode)

@@ -60,7 +61,8 @@ def plannerd_thread():
      publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner)

    if params_memory.get_bool("FrogPilotTogglesUpdated"):
-      frogpilot_planner.update_frogpilot_params(params)
+      updateFrogPilotToggles = threading.Thread(target=frogpilot_planner.update_frogpilot_params, args=(params, params_memory))
+      updateFrogPilotToggles.start()

 def main():
  plannerd_thread()
--- a/selfdrive/frogpilot/functions/conditional_experimental_mode.py
+++ b/selfdrive/frogpilot/functions/conditional_experimental_mode.py
@@ -200,7 +200,7 @@ class ConditionalExperimentalMode:
  def update_frogpilot_params(self, is_metric, params):
    self.curves = params.get_bool("CECurves")
    self.curves_lead = params.get_bool("CECurvesLead")
-    self.experimental_mode_via_press = params.get_bool("ExperimentalModeViaPress")
+    self.experimental_mode_via_press = params.get_bool("ExperimentalModeActivation")
    self.limit = params.get_int("CESpeed") * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
    self.limit_lead = params.get_int("CESpeedLead") * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
    self.navigation = params.get_bool("CENavigation")
--- a/selfdrive/frogpilot/functions/frogpilot_planner.py
+++ b/selfdrive/frogpilot/functions/frogpilot_planner.py
@@ -55,7 +55,7 @@ def calculate_lane_width(lane, current_lane, road_edge):


 class FrogPilotPlanner:
-  def __init__(self, params):
+  def __init__(self, params, params_memory):
    self.cem = ConditionalExperimentalMode()
    self.mtsc = MapTurnSpeedController()

@@ -69,7 +69,7 @@ class FrogPilotPlanner:

    self.x_desired_trajectory = np.zeros(CONTROL_N)

-    self.update_frogpilot_params(params)
+    self.update_frogpilot_params(params, params_memory)

  def update(self, sm, mpc):
    carState, controlsState, modelData = sm['carState'], sm['controlsState'], sm['modelV2']
@@ -203,7 +203,7 @@ class FrogPilotPlanner:

    pm.send('frogpilotLongitudinalPlan', frogpilot_longitudinal_plan_send)

-  def update_frogpilot_params(self, params):
+  def update_frogpilot_params(self, params, params_memory):
    self.is_metric = params.get_bool("IsMetric")

    self.blindspot_path = params.get_bool("CustomUI") and params.get_bool("BlindSpotPath")
--- a/selfdrive/frogpilot/ui/control_settings.cc
+++ b/selfdrive/frogpilot/ui/control_settings.cc
@@ -15,7 +15,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil

    {"CustomPersonalities", "Custom Driving Personalities", "Customize the driving personality profiles to your driving style.", "../frogpilot/assets/toggle_icons/icon_custom.png"},
    {"DeviceShutdown", "Device Shutdown Timer", "Configure the timer for automatic device shutdown when offroad conserving energy and preventing battery drain.", "../frogpilot/assets/toggle_icons/icon_time.png"},
-    {"ExperimentalModeViaPress", "Experimental Mode Via 'LKAS' Button / Screen", "Toggle Experimental Mode by double-clicking the 'Lane Departure'/'LKAS' button or double tapping screen.\n\nOverrides 'Conditional Experimental Mode'.", "../assets/img_experimental_white.svg"},
+    {"ExperimentalModeActivation", "Experimental Mode Via", "Toggle Experimental Mode by double-clicking the 'Lane Departure'/'LKAS' button or double tapping screen.\n\nOverrides 'Conditional Experimental Mode'.", "../assets/img_experimental_white.svg"},

    {"FireTheBabysitter", "Fire the Babysitter", "Deactivate some of openpilot's 'Babysitter' protocols for more user autonomy.", "../frogpilot/assets/toggle_icons/icon_babysitter.png"},
    {"NoLogging", "Disable All Logging", "Turn off all data tracking to enhance privacy or reduce thermal load.\n\nWARNING: This action will prevent drive recording and data cannot be recovered!", ""},
@@ -23,11 +23,12 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
    {"MuteDM", "Mute Driver Monitoring", "Disable driver monitoring.", ""},
    {"MuteOverheated", "Mute Overheated System Alert", "Disable alerts for the device being overheated.", ""},
    {"MuteSeatbelt", "Mute Seatbelt Unlatched Alert", "Disable alerts for unlatched seatbelts.", ""},
+    {"OfflineMode", "Offline Mode", "Allow the device to be offline indefinitely.", ""},

    {"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
    {"AverageCurvature", "Average Desired Curvature", "Use Pfeiferj's distance-based curvature adjustment for improved curve handling.", ""},
    {"NNFF", "NNFF - Neural Network Feedforward", "Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control.", ""},
-    {"SteerRatio", steerRatioStock != 0 ? QString("Steer Ratio (Default: " + QString::number(steerRatioStock / 100.0) + ")") : "Steer Ratio", "Set a custom steer ratio for your vehicle controls.", ""},
+    {"SteerRatio", steerRatioStock != 0 ? QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2) : "Steer Ratio", "Set a custom steer ratio for your vehicle controls.", ""},

    {"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
    {"AccelerationProfile", "Acceleration Profile", "Change the acceleration rate to be either sporty or eco-friendly.", ""},
@@ -36,6 +37,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
    {"SmoothBraking", "Smoother Braking Behind Lead", "Smoothen out the braking behavior when approaching slower vehicles.", ""},

    {"Model", "Model Selector", "Choose your preferred openpilot model.", "../assets/offroad/icon_calibration.png"},
+
    {"MTSCEnabled", "Map Turn Speed Control", "Slow down for anticipated curves detected by your downloaded maps.", "../frogpilot/assets/toggle_icons/icon_speed_map.png"},

    {"NudgelessLaneChange", "Nudgeless Lane Change", "Enable lane changes without manual steering input.", "../frogpilot/assets/toggle_icons/icon_lane.png"},
@@ -44,6 +46,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
    {"OneLaneChange", "One Lane Change Per Signal", "Limit to one nudgeless lane change per turn signal activation.", ""},

    {"QOLControls", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
+    {"DisableOnroadUploads", "Disable Onroad Uploads", "Prevent large data uploads when onroad.", ""},
    {"HigherBitrate", "Higher Bitrate Recording", "Increases the quality of the footage uploaded to comma connect.", ""},
    {"PauseLateralOnSignal", "Pause Lateral On Turn Signal Below", "Temporarily disable lateral control during turn signal use below the set speed.", ""},
    {"ReverseCruise", "Reverse Cruise Increase", "Reverses the 'long press' functionality when increasing the max set speed. Useful to increase the max speed quickly.", ""},
@@ -72,7 +75,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
      toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 3, {{0, "None"}, {1, "Steering Wheel"}, {2, "Onroad UI Button"}, {3, "Wheel + Button"}}, this, true);

    } else if (param == "AlwaysOnLateral") {
-      std::vector<QString> aolToggles{tr("AlwaysOnLateralMain")};
+      std::vector<QString> aolToggles{"AlwaysOnLateralMain"};
      std::vector<QString> aolToggleNames{tr("Enable On Cruise Main")};
      toggle = new FrogPilotParamToggleControl(param, title, desc, icon, aolToggles, aolToggleNames);

@@ -112,11 +115,11 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
      conditionalSpeedsMetric = new FrogPilotDualParamControl(CESpeedMetric, CESpeedLeadMetric, this);
      addItem(conditionalSpeedsMetric);

-      std::vector<QString> curveToggles{tr("CECurvesLead")};
+      std::vector<QString> curveToggles{"CECurvesLead"};
      std::vector<QString> curveToggleNames{tr("With Lead")};
      toggle = new FrogPilotParamToggleControl(param, title, desc, icon, curveToggles, curveToggleNames);
    } else if (param == "CEStopLights") {
-      std::vector<QString> stopLightToggles{tr("CEStopLightsLead")};
+      std::vector<QString> stopLightToggles{"CEStopLightsLead"};
      std::vector<QString> stopLightToggleNames{tr("With Lead")};
      toggle = new FrogPilotParamToggleControl(param, title, desc, icon, stopLightToggles, stopLightToggleNames);

@@ -167,6 +170,11 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
      }
      toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 33, shutdownLabels, this, false);

+    } else if (param == "ExperimentalModeActivation") {
+      std::vector<QString> experimentalModeToggles{"ExperimentalModeViaLKAS", "ExperimentalModeViaScreen"};
+      std::vector<QString> experimentalModeNames{tr("LKAS Button"), tr("Screen")};
+      toggle = new FrogPilotParamToggleControl(param, title, desc, icon, experimentalModeToggles, experimentalModeNames);
+
    } else if (param == "FireTheBabysitter") {
      FrogPilotParamManageControl *fireTheBabysitterToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
      QObject::connect(fireTheBabysitterToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -187,7 +195,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
      });
      toggle = lateralTuneToggle;
    } else if (param == "SteerRatio") {
-      toggle = new FrogPilotParamValueControl(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, std::map<int, QString>(), this, false, "", 100);
+      toggle = new FrogPilotParamValueControlFloat(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, std::map<int, QString>(), this, false, "", 10.0);

    } else if (param == "LongitudinalTune") {
      FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
@@ -395,11 +403,12 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
  }

  conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CESlowerLead", "CENavigation", "CEStopLights", "CESignal"};
-  fireTheBabysitterKeys = {"NoLogging", "MuteDM", "MuteDoor", "MuteOverheated", "MuteSeatbelt"};
+  fireTheBabysitterKeys = {"NoLogging", "MuteDM", "MuteDoor", "MuteOverheated", "MuteSeatbelt", "OfflineMode"};
  laneChangeKeys = {"LaneChangeTime", "LaneDetection", "OneLaneChange"};
  lateralTuneKeys = {"AverageCurvature", "NNFF", "SteerRatio"};
  longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "SmoothBraking", "StoppingDistance"};
-  qolKeys = {"HigherBitrate", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset"};
+  mtscKeys = {"MTSCAggressiveness"};
+  qolKeys = {"DisableOnroadUploads", "HigherBitrate", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset"};
  speedLimitControllerKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "SLCFallback", "SLCOverride", "SLCPriority"};
  visionTurnControlKeys = {"CurveSensitivity", "TurnAggressiveness"};

@@ -418,10 +427,10 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
 }

 void FrogPilotControlsPanel::updateCarToggles() {
-  FrogPilotParamValueControl *steerRatioToggle = static_cast<FrogPilotParamValueControl*>(toggles["SteerRatio"]);
-  steerRatioStock = params.getInt("SteerRatioStock");
-  steerRatioToggle->setTitle(steerRatioStock != 0 ? QString("Steer Ratio (Default: " + QString::number(steerRatioStock / 100.0) + ")") : QString("Steer Ratio"));
-  steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 100);
+  FrogPilotParamValueControlFloat *steerRatioToggle = static_cast<FrogPilotParamValueControlFloat*>(toggles["SteerRatio"]);
+  steerRatioStock = params.getFloat("SteerRatioStock");
+  steerRatioToggle->setTitle(steerRatioStock != 0 ? QString("Steer Ratio (Default: %1)").arg(steerRatioStock, 0, 'f', 2) : QString("Steer Ratio"));
+  steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25, "", 10.0);
  steerRatioToggle->refresh();
 }

@@ -535,6 +544,7 @@ void FrogPilotControlsPanel::hideSubToggles() {
                      laneChangeKeys.find(key.c_str()) != laneChangeKeys.end() ||
                      lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end() ||
                      longitudinalTuneKeys.find(key.c_str()) != longitudinalTuneKeys.end() ||
+                      mtscKeys.find(key.c_str()) != mtscKeys.end() ||
                      qolKeys.find(key.c_str()) != qolKeys.end() ||
                      speedLimitControllerKeys.find(key.c_str()) != speedLimitControllerKeys.end() ||
                      visionTurnControlKeys.find(key.c_str()) != visionTurnControlKeys.end();
--- a/selfdrive/frogpilot/ui/control_settings.h
+++ b/selfdrive/frogpilot/ui/control_settings.h
@@ -38,6 +38,7 @@ private:
  std::set<QString> laneChangeKeys;
  std::set<QString> lateralTuneKeys;
  std::set<QString> longitudinalTuneKeys;
+  std::set<QString> mtscKeys;
  std::set<QString> qolKeys;
  std::set<QString> speedLimitControllerKeys;
  std::set<QString> visionTurnControlKeys;
@@ -48,5 +49,5 @@ private:
  Params paramsMemory{"/dev/shm/params"};

  bool isMetric = params.getBool("IsMetric");
-  int steerRatioStock = params.getInt("SteerRatioStock");
+  float steerRatioStock = params.getFloat("SteerRatioStock");
 };
--- a/selfdrive/frogpilot/ui/frogpilot_functions.cc
+++ b/selfdrive/frogpilot/ui/frogpilot_functions.cc
@@ -79,8 +79,11 @@ void setDefaultParams() {
    {"CustomUI", "1"},
    {"DeviceShutdown", "9"},
    {"DriverCamera", "0"},
+    {"DriveStats", "1"},
    {"EVTable", FrogsGoMoo ? "0" : "1"},
-    {"ExperimentalModeViaPress", "1"},
+    {"ExperimentalModeActivation", "1"},
+    {"ExperimentalModeViaLKAS", "1"},
+    {"ExperimentalModeViaScreen", FrogsGoMoo ? "0" : "1"},
    {"Fahrenheit", "0"},
    {"FireTheBabysitter", FrogsGoMoo ? "1" : "0"},
    {"FullMap", "0"},
@@ -149,6 +152,7 @@ void setDefaultParams() {
    {"TurnDesires", "1"},
    {"UnlimitedLength", "1"},
    {"UseSI", FrogsGoMoo ? "1" : "0"},
+    {"UseVienna", "0"},
    {"VisionTurnControl", "1"},
    {"WheelIcon", FrogsGoMoo ? "1" : "0"}
  };
--- a/selfdrive/frogpilot/ui/frogpilot_functions.h
+++ b/selfdrive/frogpilot/ui/frogpilot_functions.h
@@ -363,6 +363,120 @@ private:
  }
 };

+class FrogPilotParamValueControlFloat : public ParamControl {
+  Q_OBJECT
+
+public:
+  FrogPilotParamValueControlFloat(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                    const float &minValue, const float &maxValue, const std::map<int, QString> &valueLabels,
+                    QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const float &division = 1.0f)
+    : ParamControl(param, title, desc, icon, parent),
+      minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), division(division) {
+        key = param.toStdString();
+
+        valueLabel = new QLabel(this);
+        hlayout->addWidget(valueLabel);
+
+        QPushButton *decrementButton = createButton("-", this);
+        QPushButton *incrementButton = createButton("+", this);
+
+        hlayout->addWidget(decrementButton);
+        hlayout->addWidget(incrementButton);
+
+        connect(decrementButton, &QPushButton::clicked, this, [=]() {
+          updateValue(-1.0f);
+        });
+
+        connect(incrementButton, &QPushButton::clicked, this, [=]() {
+          updateValue(1.0f);
+        });
+
+        toggle.hide();
+      }
+
+  void updateValue(float increment) {
+    value += increment * 0.1f;
+
+    if (loop) {
+      if (value < minValue) value = maxValue;
+      else if (value > maxValue) value = minValue;
+    } else {
+      value = std::max(minValue, std::min(maxValue, value));
+    }
+
+    params.putFloat(key, value);
+    refresh();
+    emit buttonPressed();
+    emit valueChanged(value);
+  }
+
+  void refresh() {
+    value = params.getFloat(key);
+
+    QString text;
+    auto it = valueLabelMappings.find(value);
+    if (division > 0.1f) {
+      text = QString::number(value, 'f', 1);
+    } else {
+      text = it != valueLabelMappings.end() ? it->second : QString::number(value, 'f', 1);
+    }
+    if (!labelText.isEmpty()) {
+      text += labelText;
+    }
+    valueLabel->setText(text);
+    valueLabel->setStyleSheet("QLabel { color: #E0E879; }");
+  }
+
+  void updateControl(float newMinValue, float newMaxValue, const QString &newLabel, float newDivision = 1.0f) {
+    minValue = newMinValue;
+    maxValue = newMaxValue;
+    labelText = newLabel;
+    division = newDivision;
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
+signals:
+  void buttonPressed();
+  void valueChanged(float value);
+
+private:
+  bool loop;
+  float division;
+  float maxValue;
+  float minValue;
+  float value;
+  QLabel *valueLabel;
+  QString labelText;
+  std::map<int, QString> valueLabelMappings;
+  std::string key;
+  Params params;
+
+  QPushButton *createButton(const QString &text, QWidget *parent) {
+    QPushButton *button = new QPushButton(text, parent);
+    button->setFixedSize(150, 100);
+    button->setAutoRepeat(true);
+    button->setAutoRepeatInterval(150);
+    button->setStyleSheet(R"(
+      QPushButton {
+        border-radius: 50px;
+        font-size: 50px;
+        font-weight: 500;
+        height: 100px;
+        padding: 0 25 0 25;
+        color: #E4E4E4;
+        background-color: #393939;
+      }
+      QPushButton:pressed {
+        background-color: #4a4a4a;
+      }
+    )");
+    return button;
+  }
+};
+
 class FrogPilotDualParamControl : public QFrame {
  Q_OBJECT

--- a/selfdrive/frogpilot/ui/vehicle_settings.cc
+++ b/selfdrive/frogpilot/ui/vehicle_settings.cc
@@ -121,10 +121,10 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
    });
  }

-  gmKeys = {"EVTable", "GasRegenCmd", "LongPitch"};
-  toyotaKeys = {};
+  gmKeys = {"EVTable", "GasRegenCmd", "LongPitch", "LowerVolt"};
+  toyotaKeys = {"LockDoors", "SNGHack", "TSS2Tune"};

-  std::set<std::string> rebootKeys = {"LowerVolt", "TSS2Tune"};
+  std::set<std::string> rebootKeys = {"EVTable", "GasRegenCmd", "LongPitch", "LowerVolt", "TSS2Tune"};
  for (const std::string &key : rebootKeys) {
    QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
      if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
--- a/selfdrive/frogpilot/ui/visual_settings.cc
+++ b/selfdrive/frogpilot/ui/visual_settings.cc
@@ -18,6 +18,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
    {"ShowFPS", "FPS Counter", "Display the Frames Per Second (FPS) of your onroad UI for monitoring system performance.", ""},
    {"LeadInfo", "Lead Info and Logics", "Get detailed information about the vehicle ahead, including speed and distance, and the logic behind your following distance.", ""},
    {"RoadNameUI", "Road Name", "See the name of the road you're on at the bottom of your screen. Sourced from OpenStreetMap.", ""},
+    {"UseVienna", "Use Vienna Speed Limit Signs", "Use the Vienna (EU) speed limit style signs as opposed to MUTCD (US).", ""},

    {"DriverCamera", "Driver Camera On Reverse", "Show the driver's camera feed when you shift to reverse.", "../assets/img_driver_face_static.png"},
    {"GreenLightAlert", "Green Light Alert", "Get an alert when a traffic light changes from red to green.", "../frogpilot/assets/toggle_icons/icon_green_light.png"},
@@ -152,7 +153,16 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
    });
  }

-  customOnroadUIKeys = {"AdjacentPath", "BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI"};
+  std::set<std::string> rebootKeys = {"DriveStats"};
+  for (const std::string &key : rebootKeys) {
+    QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
+      if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
+        Hardware::reboot();
+      }
+    });
+  }
+
+  customOnroadUIKeys = {"AdjacentPath", "BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI", "UseVienna"};
  customThemeKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds"};
  modelUIKeys = {"AccelerationPath", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};
  qolKeys = {"DriveStats", "HideSpeed", "ShowSLCOffset"};
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -134,10 +134,13 @@ def main():
    CP = msg
  cloudlog.info("paramsd got CarParams")

-  steer_ratio_stock = params_reader.get_int("SteerRatioStock")
-  if steer_ratio_stock != CP.steerRatio * 100:
-    params_reader.put_int("SteerRatio", CP.steerRatio * 100)
-    params_reader.put_int("SteerRatioStock", CP.steerRatio * 100)
+  steer_ratio = params_reader.get_float("SteerRatio")
+  steer_ratio_stock = params_reader.get_float("SteerRatioStock")
+
+  if steer_ratio_stock != CP.steerRatio or steer_ratio >= steer_ratio_stock * 2:
+    params_reader.put_float("SteerRatio", CP.steerRatio)
+    params_reader.put_float("SteerRatioStock", CP.steerRatio)
+    params_reader.put_bool("DoReboot", True)

  min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio

--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -77,7 +77,8 @@ class RouteEngine:
  def update(self):
    # Update FrogPilot parameters
    if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
-      self.update_frogpilot_params()
+      updateFrogPilotParams = threading.Thread(target=self.update_frogpilot_params)
+      updateFrogPilotParams.start()

    self.sm.update(0)

--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -309,7 +309,7 @@ def thermald_thread(end_event, hw_queue) -> None:
    startup_conditions["time_valid"] = now > MIN_DATE
    set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]) and peripheral_panda_present)

-    startup_conditions["up_to_date"] = params.get("OfflineMode") or params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
+    startup_conditions["up_to_date"] = (params.get("OfflineMode") and params.get("FireTheBabysitter")) or params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
    startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
    startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version

--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -160,7 +160,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
    left_widget->addWidget(new DriveStats);
    left_widget->setStyleSheet("border-radius: 10px;");

-    left_widget->setCurrentIndex(uiState()->hasPrime() ? 0 : true ? 2 : 1);
+    left_widget->setCurrentIndex(params.getBool("DriveStats") ? 2 : uiState()->hasPrime() ? 0 : 1);
    connect(uiState(), &UIState::primeChanged, [=](bool prime) {
      left_widget->setCurrentIndex(prime ? 0 : 1);
    });
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -205,14 +205,6 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
  });
  list->addItem(hiddenNetworkButton);

-  // Disable onroad uploads toggle
-  const bool disableOnroadUploads = params.getBool("DisableOnroadUploads");
-  disableOnroadUploadsToggle = new ToggleControl(tr("Disable Onroad Uploads"), tr("Prevent large data uploads when onroad."), "", disableOnroadUploads);
-  QObject::connect(disableOnroadUploadsToggle, &ToggleControl::toggleFlipped, [=](bool state) {
-    params.putBool("DisableOnroadUploads", state);
-  });
-  list->addItem(disableOnroadUploadsToggle);
-
  // Set initial config
  wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered);

--- a/selfdrive/ui/qt/network/networking.h
+++ b/selfdrive/ui/qt/network/networking.h
@@ -67,9 +67,6 @@ private:
  WifiManager* wifi = nullptr;
  Params params;

-  // FrogPilot variables
-  ToggleControl *disableOnroadUploadsToggle;
-
 signals:
  void backPress();
  void requestWifiScreen();
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -136,29 +136,29 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
  if (isMaxSpeedClicked || isSpeedClicked || isSpeedLimitClicked) {
    // Check if the click was within the max speed area
    if (isMaxSpeedClicked) {
-      reverseCruise = !params.getBool("ReverseCruise");
-      params.putBoolNonBlocking("ReverseCruise", reverseCruise);
+      bool currentReverseCruise = !params.getBool("ReverseCruise");
+      params.putBoolNonBlocking("ReverseCruise", currentReverseCruise);
      if (!params.getBool("QOLControls")) {
        params.putBoolNonBlocking("QOLControls", true);
      }
-      paramsMemory.putBoolNonBlocking("FrogPilotTogglesUpdated", true);
    // Check if the click was within the speed text area
    } else if (isSpeedClicked) {
-      hideSpeed = !params.getBool("HideSpeed");
-      params.putBoolNonBlocking("HideSpeed", hideSpeed);
+      bool currentHideSpeed = !params.getBool("HideSpeed");
+      params.putBoolNonBlocking("HideSpeed", currentHideSpeed);
      if (!params.getBool("QOLVisuals")) {
        params.putBoolNonBlocking("QOLVisuals", true);
      }
    } else {
-      showSLCOffset = !params.getBool("ShowSLCOffset");
-      params.putBoolNonBlocking("ShowSLCOffset", showSLCOffset);
+      bool currentShowSLCOffset = !params.getBool("ShowSLCOffset");
+      params.putBoolNonBlocking("ShowSLCOffset", currentShowSLCOffset);
      if (!params.getBool("QOLVisuals")) {
        params.putBoolNonBlocking("QOLVisuals", true);
      }
    }
    widgetClicked = true;
+    paramsMemory.putBoolNonBlocking("FrogPilotTogglesUpdated", true);
  // If the click wasn't for anything specific, change the value of "ExperimentalMode"
-  } else if (scene.experimental_mode_via_press && e->pos() != timeoutPoint) {
+  } else if (scene.experimental_mode_via_screen && e->pos() != timeoutPoint) {
    if (clickTimer.isActive()) {
      clickTimer.stop();
      if (scene.conditional_experimental) {
@@ -179,7 +179,7 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
    // Switch between map and sidebar when using navigate on openpilot
    bool sidebarVisible = geometry().x() > 0;
    bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible;
-    if (!scene.experimental_mode_via_press || map->isVisible()) {
+    if (!scene.experimental_mode_via_screen || map->isVisible()) {
      map->setVisible(show_map && !map->isVisible());
    }
  }
@@ -385,7 +385,7 @@ void ExperimentalButton::changeMode() {
  Params paramsMemory = Params("/dev/shm/params");

  const auto cp = (*uiState()->sm)["carParams"].getCarParams();
-  bool can_change = hasLongitudinalControl(cp) && (params.getBool("ExperimentalModeConfirmed") || scene.experimental_mode_via_press);
+  bool can_change = hasLongitudinalControl(cp) && (params.getBool("ExperimentalModeConfirmed") || scene.experimental_mode_via_screen);
  if (can_change) {
    if (scene.conditional_experimental) {
      int override_value = (scene.conditional_status >= 1 && scene.conditional_status <= 4) ? 0 : scene.conditional_status >= 5 ? 3 : 4;
@@ -432,11 +432,11 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
  QPixmap img = wheelIcon ? engage_img : (experimental_mode ? experimental_img : engage_img);

  QColor background_color = wheelIcon && !isDown() && engageable ?
+      (scene.always_on_lateral_active ? QColor(10, 186, 181, 255) :
      (scene.conditional_status == 1 ? QColor(255, 246, 0, 255) :
      (experimental_mode ? QColor(218, 111, 37, 241) :
-      (scene.navigate_on_openpilot ? QColor(49, 161, 238, 255) : QColor(0, 0, 0, 166)))) :
-      (scene.always_on_lateral_active ? QColor(10, 186, 181, 255) :
-      QColor(0, 0, 0, 166));
+      (scene.navigate_on_openpilot ? QColor(49, 161, 238, 255) : QColor(0, 0, 0, 166))))) :
+      QColor(0, 0, 0, 166);

  if (!scene.show_driver_camera) {
    if (rotatingWheel || firefoxRandomEventTriggered) {
@@ -524,8 +524,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
    speedLimit = speedLimit - (showSLCOffset ? slcSpeedLimitOffset : 0);
  }

-  has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD) || slcSpeedLimit;
-  has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
+  has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD) || (slcSpeedLimit && !useViennaSLCSign);
+  has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA) || (slcSpeedLimit && useViennaSLCSign);
  is_metric = s.scene.is_metric;
  speedUnit =  s.scene.is_metric ? tr("km/h") : tr("mph");
  hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || customSignals && (turnSignalLeft || turnSignalRight)) || showDriverCamera;
@@ -581,7 +581,8 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
  if (is_cruise_set && cruiseAdjustment) {
    float transition = qBound(0.0f, 4.0f * (cruiseAdjustment / setSpeed), 1.0f);
-    QColor min = whiteColor(75), max = redColor(75);
+    QColor min = whiteColor(75);
+    QColor max = redColor(75);

    p.setPen(QPen(QColor::fromRgbF(
      min.redF()   + transition * (max.redF()   - min.redF()),
@@ -1122,7 +1123,8 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
 void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
  CameraWidget::showEvent(event);

-  ui_update_params(uiState());
+  std::thread updateFrogPilotParams(ui_update_params, uiState());
+  updateFrogPilotParams.detach();
  prev_draw_t = millis_since_boot();
 }

@@ -1146,15 +1148,6 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {

  main_layout->addLayout(bottom_layout);

-  if (params.getBool("QOLControls")) {
-    reverseCruise = params.getBool("ReverseCruise");
-  }
-
-  if (params.getBool("QOLVisuals")) {
-    hideSpeed = params.getBool("HideSpeed");
-    showSLCOffset = params.getBool("ShowSLCOffset");
-  }
-
  // Custom themes configuration
  themeConfiguration = {
    {1, {QString("frog_theme"), {QColor(23, 134, 68, 242), {{0.0, QBrush(QColor::fromHslF(144 / 360., 0.71, 0.31, 0.9))},
@@ -1200,6 +1193,7 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
  customColors = scene.custom_colors;
  desiredFollow = scene.desired_follow;
  experimentalMode = scene.experimental_mode;
+  hideSpeed = scene.hide_speed;
  laneWidthLeft = scene.lane_width_left;
  laneWidthRight = scene.lane_width_right;
  leadInfo = scene.lead_info;
@@ -1208,8 +1202,10 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
  obstacleDistance = scene.obstacle_distance;
  obstacleDistanceStock = scene.obstacle_distance_stock;
  onroadAdjustableProfiles = scene.personalities_via_screen;
+  reverseCruise = scene.reverse_cruise;
  roadNameUI = scene.road_name_ui;
  showDriverCamera = scene.show_driver_camera;
+  showSLCOffset = scene.show_slc_offset;
  slcOverridden = scene.speed_limit_overridden;
  slcOverriddenSpeed = scene.speed_limit_overridden_speed;
  slcSpeedLimit = scene.speed_limit;
@@ -1218,6 +1214,7 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
  turnSignalLeft = scene.turn_signal_left;
  turnSignalRight = scene.turn_signal_right;
  useSI = scene.use_si;
+  useViennaSLCSign = scene.use_vienna_slc_sign;

  if (!showDriverCamera) {
    if (leadInfo) {
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -17,9 +17,6 @@ const int btn_size = 192;
 const int img_size = (btn_size / 4) * 3;

 // FrogPilot global variables
-static bool hideSpeed;
-static bool reverseCruise;
-static bool showSLCOffset;
 static double fps;

 // ***** onroad widgets *****
@@ -191,16 +188,20 @@ private:
  bool compass;
  bool conditionalExperimental;
  bool experimentalMode;
+  bool hideSpeed;
  bool leadInfo;
  bool mapOpen;
  bool muteDM;
  bool onroadAdjustableProfiles;
+  bool reverseCruise;
  bool roadNameUI;
  bool showDriverCamera;
+  bool showSLCOffset;
  bool slcOverridden;
  bool turnSignalLeft;
  bool turnSignalRight;
  bool useSI;
+  bool useViennaSLCSign;
  double maxAcceleration;
  float cruiseAdjustment;
  float laneWidthLeft;
@@ -223,6 +224,8 @@ private:
  QTimer *animationTimer;
  size_t animationFrameIndex;

+  inline QColor greenColor(int alpha = 242) { return QColor(23, 134, 68, alpha); }
+
  std::unordered_map<int, std::pair<QString, std::pair<QColor, std::map<double, QBrush>>>> themeConfiguration;
  std::vector<QPixmap> signalImgVector;

--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -24,7 +24,7 @@ void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QCol
  p.drawText(rect.adjusted(22, 0, 0, 0), Qt::AlignCenter, label.first + "\n" + label.second);
 }

-Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) {
+Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false), scene(uiState()->scene) {
  home_img = loadPixmap("../assets/images/button_home.png", home_btn.size());
  flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
  settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
@@ -36,7 +36,6 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
  setFixedWidth(300);

  QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
-  QObject::connect(uiState(), &UIState::uiUpdateFrogPilotParams, this, &Sidebar::updateFrogPilotParams);

  pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"userFlag"});

@@ -68,7 +67,11 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
    settings_imgs[key] = loadPixmap(paths[2], settings_btn.size(), Qt::IgnoreAspectRatio);
  }

-  updateFrogPilotParams();
+  home_img = home_imgs[scene.custom_icons];
+  flag_img = flag_imgs[scene.custom_icons];
+  settings_img = settings_imgs[scene.custom_icons];
+
+  currentColors = themeConfiguration[scene.custom_colors].second;
 }

 void Sidebar::mousePressEvent(QMouseEvent *event) {
@@ -144,6 +147,12 @@ void Sidebar::updateState(const UIState &s) {
  setProperty("netStrength", strength > 0 ? strength + 1 : 0);

  // FrogPilot properties
+  home_img = home_imgs[scene.custom_icons];
+  flag_img = flag_imgs[scene.custom_icons];
+  settings_img = settings_imgs[scene.custom_icons];
+
+  currentColors = themeConfiguration[scene.custom_colors].second;
+
  auto frogpilotDeviceState = sm["frogpilotDeviceState"].getFrogpilotDeviceState();

  int maxTempC = deviceState.getMaxTempC();
@@ -227,19 +236,6 @@ void Sidebar::updateState(const UIState &s) {
  setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
 }

-void Sidebar::updateFrogPilotParams() {
-  // Update FrogPilot parameters upon toggle change
-  isCustomTheme = params.getBool("CustomTheme");
-  customColors = isCustomTheme ? params.getInt("CustomColors") : 0;
-  customIcons = isCustomTheme ? params.getInt("CustomIcons") : 0;
-
-  home_img = home_imgs[customIcons];
-  flag_img = flag_imgs[customIcons];
-  settings_img = settings_imgs[customIcons];
-
-  currentColors = themeConfiguration[customColors].second;
-}
-
 void Sidebar::paintEvent(QPaintEvent *event) {
  QPainter p(this);
  p.setPen(Qt::NoPen);
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -34,9 +34,6 @@ public slots:
  void offroadTransition(bool offroad);
  void updateState(const UIState &s);

-  // FrogPilot slots
-  void updateFrogPilotParams();
-
 protected:
  void paintEvent(QPaintEvent *event) override;
  void mousePressEvent(QMouseEvent *event) override;
@@ -70,6 +67,7 @@ private:

  // FrogPilot variables
  Params params;
+  UIScene &scene;

  ItemStatus cpu_status, memory_status, storage_status;

@@ -80,13 +78,10 @@ private:
  std::vector<QColor> currentColors;

  bool isCPU;
-  bool isCustomTheme;
  bool isFahrenheit;
  bool isGPU;
  bool isMemoryUsage;
  bool isNumericalTemp;
  bool isStorageLeft;
  bool isStorageUsed;
-  int customColors;
-  int customIcons;
 };
--- a/selfdrive/ui/qt/widgets/offroad_alerts.cc
+++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc
@@ -37,7 +37,12 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent
  disable_check_btn->setFixedSize(625, 125);
  footer_layout->addWidget(disable_check_btn, 1, Qt::AlignBottom | Qt::AlignCenter);
  QObject::connect(disable_check_btn, &QPushButton::clicked, [=]() {
-    params.putBool("OfflineMode", true);
+    if (!params.getBool("FireTheBabysitter")) {
+      params.putBool("FireTheBabysitter", true);
+    }
+    if (!params.getBool("OfflineMode")) {
+      params.putBool("OfflineMode", true);
+    }
    Hardware::reboot();
  });
  QObject::connect(disable_check_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss);
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -1,6 +1,7 @@
 import math
 import numpy as np
 import time
+import threading
 import wave

 from typing import Dict, Optional, Tuple
@@ -167,7 +168,8 @@ class Soundd:

    # Update FrogPilot parameters
    if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
-      self.update_frogpilot_params()
+      updateFrogPilotParams = threading.Thread(target=self.update_frogpilot_params)
+      updateFrogPilotParams.start()

  def update_frogpilot_params(self):
    self.silent_mode = self.params.get_bool("SilentMode")
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -309,9 +309,11 @@ void ui_update_params(UIState *s) {
  scene.road_name_ui = params.getBool("RoadNameUI") && scene.custom_onroad_ui;
  scene.show_fps = params.getBool("ShowFPS") && scene.custom_onroad_ui;
  scene.use_si = params.getBool("UseSI") && scene.custom_onroad_ui;
+  scene.use_vienna_slc_sign = params.getBool("UseVienna") && scene.custom_onroad_ui;

  scene.custom_theme = params.getBool("CustomTheme");
  scene.custom_colors = scene.custom_theme ? params.getInt("CustomColors") : 0;
+  scene.custom_icons = scene.custom_theme ? params.getInt("CustomIcons") : 0;
  scene.custom_signals = scene.custom_theme ? params.getInt("CustomSignals") : 0;

  scene.model_ui = params.getBool("ModelUI");
@@ -323,12 +325,17 @@ void ui_update_params(UIState *s) {
  scene.unlimited_road_ui_length = params.getBool("UnlimitedLength") && scene.model_ui;

  scene.driver_camera = params.getBool("DriverCamera");
-  scene.experimental_mode_via_press = params.getBool("ExperimentalModeViaPress");
+  scene.experimental_mode_via_screen = params.getBool("ExperimentalModeViaScreen") && params.getBool("ExperimentalModeActivation");
  scene.mute_dm = params.getBool("MuteDM") && params.getBool("FireTheBabysitter");
  scene.personalities_via_screen = (params.getInt("AdjustablePersonalities") == 2 || params.getInt("AdjustablePersonalities") == 3);

+  scene.quality_of_life_controls = params.getBool("QOLControls");
+  scene.reverse_cruise = params.getBool("ReverseCruise") && scene.quality_of_life_controls;
+
  scene.quality_of_life_visuals = params.getBool("QOLVisuals");
-  scene.full_map = params.getBool("QOLVisuals") && scene.quality_of_life_visuals;
+  scene.full_map = params.getBool("FullMap") && scene.quality_of_life_visuals;
+  scene.hide_speed = params.getBool("HideSpeed") && scene.quality_of_life_visuals;
+  scene.show_slc_offset = params.getBool("ShowSLCOffset") && scene.quality_of_life_visuals;

  scene.random_events = params.getBool("RandomEvents");
  scene.rotating_wheel = params.getBool("RotatingWheel");
@@ -385,8 +392,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {

  wifi = new WifiManager(this);

-  scene.screen_brightness = params.getInt("ScreenBrightness");
-
+  ui_update_params(this);
  setDefaultParams();
 }

@@ -403,8 +409,8 @@ void UIState::update() {
  // Update FrogPilot variables when they are changed
  Params paramsMemory{"/dev/shm/params"};
  if (paramsMemory.getBool("FrogPilotTogglesUpdated")) {
-    ui_update_params(this);
-    emit uiUpdateFrogPilotParams();
+    std::thread updateFrogPilotParams(ui_update_params, this);
+    updateFrogPilotParams.detach();
  }

  // FrogPilot live variables that need to be constantly checked
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -184,18 +184,22 @@ typedef struct UIScene {
  bool driver_camera;
  bool enabled;
  bool experimental_mode;
-  bool experimental_mode_via_press;
+  bool experimental_mode_via_screen;
  bool full_map;
+  bool hide_speed;
  bool lead_info;
  bool map_open;
  bool model_ui;
  bool mute_dm;
  bool personalities_via_screen;
+  bool quality_of_life_controls;
  bool quality_of_life_visuals;
  bool random_events;
+  bool reverse_cruise;
  bool road_name_ui;
  bool rotating_wheel;
  bool show_driver_camera;
+  bool show_slc_offset;
  bool show_fps;
  bool speed_limit_controller;
  bool speed_limit_overridden;
@@ -204,6 +208,7 @@ typedef struct UIScene {
  bool turn_signal_right;
  bool unlimited_road_ui_length;
  bool use_si;
+  bool use_vienna_slc_sign;
  float adjusted_cruise;
  float lane_line_width;
  float lane_width_left;
@@ -221,6 +226,7 @@ typedef struct UIScene {
  int conditional_status;
  int current_random_event;
  int custom_colors;
+  int custom_icons;
  int custom_signals;
  int desired_follow;
  int obstacle_distance;
@@ -265,9 +271,6 @@ signals:
  void primeChanged(bool prime);
  void primeTypeChanged(PrimeType prime_type);

-  // FrogPilot signals
-  void uiUpdateFrogPilotParams();
-
 private slots:
  void update();

--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -194,7 +194,6 @@ def finalize_update() -> None:
  # FrogPilot update functions
  params = Params()
  params.put("Updated", datetime.datetime.now().astimezone(ZoneInfo('America/Phoenix')).strftime("%B %d, %Y - %I:%M%p"))
-  params.remove("OfflineMode")  # Reset the param since the user has internet connection again

 def handle_agnos_update() -> None:
  from openpilot.system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
@@ -227,7 +226,7 @@ class Updater:
    self._has_internet: bool = False

    # FrogPilot variables
-    self.disable_internet_check = self.params.get_bool("OfflineMode")
+    self.disable_internet_check = self.params.get_bool("OfflineMode") and self.params.get_bool("FireTheBabysitter")

  @property
  def has_internet(self) -> bool: