From a48988ccb3e8c1a2010f989630d9149cd9756b6d Mon Sep 17 00:00:00 2001
From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
Date: Mon, 16 Feb 2026 00:01:59 -0800
Subject: [PATCH 1/7] chore: sync tinygrad (#1680)

* chore: sync tinygrad

Runs great in sim. now we need to rebuild some models

* oops forgot to unblock this after testing

* helpers

* oh yeah

* latest tg

* this wont do anything empriically

* reduce complexity

* okay lint

* Update tinygrad_runner.py

* Update modeld.py

* Update build-all-tinygrad-models.yaml

* tinygrad bump

* Update modeld.py

* Update tinygrad_runner.py

* bump

* Update SConscript

* Update SConscript

* com

* Update fetcher.py

* Update helpers.py

* Update model_runner.py

* Update model_runner.py

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .github/workflows/build-all-tinygrad-models.yaml      |  3 ++-
 .gitmodules                                           |  2 +-
 selfdrive/modeld/SConscript                           |  2 +-
 sunnypilot/modeld_v2/SConscript                       |  2 +-
 sunnypilot/modeld_v2/modeld.py                        |  7 +++++++
 sunnypilot/models/fetcher.py                          |  2 +-
 sunnypilot/models/helpers.py                          |  4 ++--
 sunnypilot/models/runners/model_runner.py             | 11 -----------
 sunnypilot/models/runners/tinygrad/tinygrad_runner.py |  4 ++--
 tinygrad_repo                                         |  2 +-
 10 files changed, 18 insertions(+), 21 deletions(-)

diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
index 00864d38a0..e901baee0c 100644
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -140,7 +140,7 @@ jobs:
         run: |
           echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
           built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
+            find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
           )
           jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
             'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
@@ -168,6 +168,7 @@ jobs:
     if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       max-parallel: 1
       matrix:
         model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
diff --git a/.gitmodules b/.gitmodules
index cd6cf2168f..5c5d72a7dc 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -15,7 +15,7 @@
   url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/sunnypilot/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
   path = sunnypilot/neural_network_data
   url = https://github.com/sunnypilot/neural-network-data.git
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 903cb5d389..7865e86f66 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -50,7 +50,7 @@ def tg_compile(flags, model_name):
 # Compile small models
 for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   flags = {
-    'larch64': 'DEV=QCOM',
+    'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0',
     'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
   }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
   tg_compile(flags, model_name)
diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript
index 94033846b0..28d39a75f1 100644
--- a/sunnypilot/modeld_v2/SConscript
+++ b/sunnypilot/modeld_v2/SConscript
@@ -60,7 +60,7 @@ def tg_compile(flags, model_name):
 for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
   if File(f"models/{model_name}.onnx").exists():
     flags = {
-      'larch64': 'DEV=QCOM',
+      'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0',
       'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
     }.get(arch, 'DEV=CPU CPU_LLVM=1 IMAGE=0')
     tg_compile(flags, model_name)
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index be0724db0d..e25078f52f 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -1,4 +1,11 @@
 #!/usr/bin/env python3
+import os
+from openpilot.system.hardware import TICI
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+USBGPU = "USBGPU" in os.environ
+if USBGPU:
+  os.environ['DEV'] = 'AMD'
+  os.environ['AMD_IFACE'] = 'USB'
 import time
 import numpy as np
 import cereal.messaging as messaging
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 1d8da083a9..0de7496578 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -116,7 +116,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v11.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v14.json"
 
   def __init__(self, params: Params):
     self.params = params
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index ce6625a1f0..7fcf7f85ef 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,8 +19,8 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 13
-REQUIRED_MIN_SELECTOR_VERSION = 12
+CURRENT_SELECTOR_VERSION = 14
+REQUIRED_MIN_SELECTOR_VERSION = 14
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 
diff --git a/sunnypilot/models/runners/model_runner.py b/sunnypilot/models/runners/model_runner.py
index 6902ed09b8..a49ff4d206 100644
--- a/sunnypilot/models/runners/model_runner.py
+++ b/sunnypilot/models/runners/model_runner.py
@@ -1,9 +1,7 @@
-import os
 from abc import abstractmethod, ABC
 
 import numpy as np
 from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.system.hardware import TICI
 from openpilot.sunnypilot.models.runners.constants import NumpyDict, ShapeDict, CLMemDict, FrameDict, Model, SliceDict, SEND_RAW_PRED
 from openpilot.system.hardware.hw import Paths
 import pickle
@@ -11,15 +9,6 @@ import pickle
 CUSTOM_MODEL_PATH = Paths.model_root()
 
 
-# Set QCOM environment variable for TICI devices, potentially enabling hardware acceleration
-USBGPU = "USBGPU" in os.environ
-if USBGPU:
-  os.environ['DEV'] = 'AMD'
-  os.environ['AMD_IFACE'] = 'USB'
-else:
-  os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
-
-
 class ModelData:
   """
   Stores metadata and configuration for a specific machine learning model.
diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
index 7b48e3086b..2df1c65e08 100644
--- a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
+++ b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
@@ -51,7 +51,7 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny
     self.input_to_dtype = {}
     self.input_to_device = {}
     for idx, name in enumerate(self.model_run.captured.expected_names):
-      info = self.model_run.captured.expected_st_vars_dtype_device[idx]
+      info = self.model_run.captured.expected_input_info[idx]
       self.input_to_dtype[name] = info[2]  # dtype
       self.input_to_device[name] = info[3]  # device
 
@@ -84,7 +84,7 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny
 
   def _run_model(self) -> NumpyDict:
     """Runs the Tinygrad model inference and parses the outputs."""
-    outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy()
+    outputs = self.model_run(**self.inputs).numpy().flatten()
     return self._parse_outputs(outputs)
 
   def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
diff --git a/tinygrad_repo b/tinygrad_repo
index 7296c74cbd..3501a71478 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 7296c74cbd2666da7dce95d7ca6dab5340653a5c
+Subproject commit 3501a714785ff370cffb966a45d5f9cdf6c9ea7a

From a120053d124488342ff40e9d1e6ff3f3b153a31b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 16 Feb 2026 03:32:08 -0500
Subject: [PATCH 2/7] docker: Dockerfile.sunnypilot uv run scons (#1700)

* docker: Dockerfile.sunnypilot uv run scons

* docker: Dockerfile.sunnypilot: don't set UV_PROJECT_ENVIRONMENT
---
 Dockerfile.sunnypilot | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/Dockerfile.sunnypilot b/Dockerfile.sunnypilot
index 88a226ad08..abc207171e 100644
--- a/Dockerfile.sunnypilot
+++ b/Dockerfile.sunnypilot
@@ -9,4 +9,6 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY . ${OPENPILOT_PATH}/
 
-RUN scons --cache-readonly -j$(nproc)
+ENV UV_BIN="/home/batman/.local/bin/"
+ENV PATH="$UV_BIN:$PATH"
+RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)

From 4a869778a916ee0ef86f218229229d4c46d9fb50 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 16 Feb 2026 04:07:07 -0500
Subject: [PATCH 3/7] Revert "ci: skip uv lock upgrade on forks" (#1701)

Revert "ci: skip uv lock upgrade on forks (#1213)"

This reverts commit 220cfff04d28fceda9c2a258579240d679825918.
---
 .github/workflows/repo-maintenance.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 3c652b6ce6..0e567a0a40 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -43,7 +43,6 @@ jobs:
       with:
         submodules: true
     - name: uv lock
-      if: github.repository == 'commaai/openpilot'
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv

From 0cb6b7b807955e1f20b9c5e5d86341b03907ae57 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 16 Feb 2026 04:16:49 -0500
Subject: [PATCH 4/7] ci: exclude non-sunnypilot maintained submodules from
 repo maintenance (#1703)

* ci: exclude non-sunnypilot maintained submodules from repo maintenance

* match names
---
 .github/workflows/repo-maintenance.yaml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 0e567a0a40..9be42cd041 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -56,6 +56,9 @@ jobs:
     - name: bump submodules
       run: |
         git config --global --add safe.directory '*'
+        git config submodule.msgq.update none
+        git config submodule.rednose_repo.update none
+        git config submodule.teleoprtc_repo.update none
         git config submodule.tinygrad.update none
         git submodule update --remote
         git add .

From f81e7245fef3b7269ef7b868e4d970d9177ee47c Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 16 Feb 2026 04:18:44 -0500
Subject: [PATCH 5/7] [bot] Update Python packages (#1702)

Update Python packages

Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
---
 opendbc_repo |   2 +-
 uv.lock      | 118 +++++++++++++++++++++++++--------------------------
 2 files changed, 60 insertions(+), 60 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index f07b9b3f38..8289577096 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f07b9b3f38ab94a367c4d576b8cdc0f73a81ee06
+Subproject commit 8289577096cf303e3f8c53a86d0e7355651b53b5
diff --git a/uv.lock b/uv.lock
index 8909934e9a..782c20849c 100644
--- a/uv.lock
+++ b/uv.lock
@@ -415,11 +415,11 @@ wheels = [
 
 [[package]]
 name = "filelock"
-version = "3.20.3"
+version = "3.24.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/1d/65/ce7f1b70157833bf3cb851b556a37d4547ceafc158aa9b34b36782f23696/filelock-3.20.3.tar.gz", hash = "sha256:18c57ee915c7ec61cff0ecf7f0f869936c7c30191bb0cf406f1341778d0834e1", size = 19485, upload-time = "2026-01-09T17:55:05.421Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/02/a8/dae62680be63cbb3ff87cfa2f51cf766269514ea5488479d42fec5aa6f3a/filelock-3.24.2.tar.gz", hash = "sha256:c22803117490f156e59fafce621f0550a7a853e2bbf4f87f112b11d469b6c81b", size = 37601, upload-time = "2026-02-16T02:50:45.614Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b5/36/7fb70f04bf00bc646cd5bb45aa9eddb15e19437a28b8fb2b4a5249fac770/filelock-3.20.3-py3-none-any.whl", hash = "sha256:4b0dda527ee31078689fc205ec4f1c1bf7d56cf88b6dc9426c4f230e46c2dce1", size = 16701, upload-time = "2026-01-09T17:55:04.334Z" },
+    { url = "https://files.pythonhosted.org/packages/e7/04/a94ebfb4eaaa08db56725a40de2887e95de4e8641b9e902c311bfa00aa39/filelock-3.24.2-py3-none-any.whl", hash = "sha256:667d7dc0b7d1e1064dd5f8f8e80bdac157a6482e8d2e02cd16fd3b6b33bd6556", size = 24152, upload-time = "2026-02-16T02:50:44Z" },
 ]
 
 [[package]]
@@ -1144,30 +1144,30 @@ wheels = [
 
 [[package]]
 name = "pillow"
-version = "12.1.0"
+version = "12.1.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/d0/02/d52c733a2452ef1ffcc123b68e6606d07276b0e358db70eabad7e40042b7/pillow-12.1.0.tar.gz", hash = "sha256:5c5ae0a06e9ea030ab786b0251b32c7e4ce10e58d983c0d5c56029455180b5b9", size = 46977283, upload-time = "2026-01-02T09:13:29.892Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/1f/42/5c74462b4fd957fcd7b13b04fb3205ff8349236ea74c7c375766d6c82288/pillow-12.1.1.tar.gz", hash = "sha256:9ad8fa5937ab05218e2b6a4cff30295ad35afd2f83ac592e68c0d871bb0fdbc4", size = 46980264, upload-time = "2026-02-11T04:23:07.146Z" }
 wheels = [
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 [[package]]

From e8f65bc6520e2af5472b085fb17040a8eea6880d Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 17 Feb 2026 13:17:03 -0500
Subject: [PATCH 6/7] Controls:  Support for Torque Lateral Control v0 Tune
 (#1693)

* init

* no

* more

* tree it

* final

* comment

* only with enforce torque

* only with enforce torque

* missed

* no

* lint

* Apply suggestion from @sunnyhaibin

* sunnylink metadata sync

* Apply suggestion from @sunnyhaibin

---------

Co-authored-by: nayan <nayan8teen@gmail.com>
---
 common/params_keys.h                          |   1 +
 selfdrive/controls/controlsd.py               |   2 +
 .../steering_sub_layouts/torque_settings.py   |  79 ++++++++++-
 .../selfdrive/controls/controlsd_ext.py       |  12 ++
 .../controls/lib/latcontrol_torque_v0.py      | 128 ++++++++++++++++++
 .../lib/latcontrol_torque_versions.json       |   8 ++
 sunnypilot/sunnylink/params_metadata.json     |  18 +++
 .../sunnylink/tests/test_params_sync.py       |  82 +++++++++++
 .../sunnylink/tools/update_params_metadata.py |  29 ++++
 9 files changed, 357 insertions(+), 2 deletions(-)
 create mode 100644 sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
 create mode 100644 sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json

diff --git a/common/params_keys.h b/common/params_keys.h
index dba0742268..6f27d9582d 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -268,6 +268,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
     {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
     {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
+    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT}},
     {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
     {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 9d0e5c9f15..12b146e80b 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -64,6 +64,8 @@ class Controls(ControlsExt):
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CP_SP, self.CI, DT_CTRL)
 
+    self.LaC = ControlsExt.initialize_lateral_control(self, self.LaC, self.CI, DT_CTRL)
+
   def update(self):
     self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
index dceee8b518..b4302e1abd 100644
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
@@ -4,15 +4,24 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+import json
+import math
+import os
 from collections.abc import Callable
 import pyray as rl
 
+from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeFolder, TreeNode
+from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.system.ui.widgets.network import NavButton
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets import Widget
+
+TORQUE_VERSIONS_PATH = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
 
 
 class TorqueSettingsLayout(Widget):
@@ -20,10 +29,23 @@ class TorqueSettingsLayout(Widget):
     super().__init__()
     self._back_button = NavButton(tr("Back"))
     self._back_button.set_click_callback(back_btn_callback)
+    self._torque_version_dialog: TreeOptionDialog | None = None
+    self.cached_torque_versions = {}
+    self._load_versions()
     items = self._initialize_items()
     self._scroller = Scroller(items, line_separator=True, spacing=0)
 
+  def _load_versions(self):
+    with open(TORQUE_VERSIONS_PATH) as f:
+      self.cached_torque_versions = json.load(f)
+
   def _initialize_items(self):
+    self._torque_control_versions = ListItemSP(
+      title=tr("Torque Control Tune Version"),
+      description="Select the version of Torque Control Tune to use.",
+      action_item=NoElideButtonAction(tr("SELECT")),
+      callback=self._show_torque_version_dialog,
+    )
     self._self_tune_toggle = toggle_item_sp(
       param="LiveTorqueParamsToggle",
       title=lambda: tr("Self-Tune"),
@@ -73,6 +95,7 @@ class TorqueSettingsLayout(Widget):
     )
 
     items = [
+      self._torque_control_versions,
       self._self_tune_toggle,
       self._relaxed_tune_toggle,
       self._custom_tune_toggle,
@@ -103,6 +126,7 @@ class TorqueSettingsLayout(Widget):
     title_text = tr("Real-Time & Offline") if ui_state.params.get("TorqueParamsOverrideEnabled") else tr("Offline Only")
     self._torque_lat_accel_factor.set_title(lambda: tr("Lateral Acceleration Factor") + " (" + title_text + ")")
     self._torque_friction.set_title(lambda: tr("Friction") + " (" + title_text + ")")
+    self._torque_control_versions.action_item.set_value(self._get_current_torque_version_label())
 
   def _render(self, rect):
     self._back_button.set_position(self._rect.x, self._rect.y + 20)
@@ -113,3 +137,54 @@ class TorqueSettingsLayout(Widget):
 
   def show_event(self):
     self._scroller.show_event()
+
+  def _get_current_torque_version_label(self):
+    current_val_bytes = ui_state.params.get("TorqueControlTune")
+    if current_val_bytes is None:
+      return tr("Default")
+
+    try:
+      current_val = float(current_val_bytes)
+      for label, info in self.cached_torque_versions.items():
+        if math.isclose(float(info["version"]), current_val, rel_tol=1e-5):
+          return label
+    except (ValueError, KeyError):
+      pass
+
+    return tr("Default")
+
+  def _show_torque_version_dialog(self):
+    options_map = {}
+    for label, info in self.cached_torque_versions.items():
+      try:
+        options_map[label] = float(info["version"])
+      except (ValueError, KeyError):
+        pass
+
+    # Sort options by label in descending order
+    sorted_labels = sorted(options_map.keys(), key=lambda k: options_map[k], reverse=True)
+
+    nodes = [TreeNode(tr("Default"))]
+    for label in sorted_labels:
+      nodes.append(TreeNode(label))
+
+    folders = [TreeFolder("", nodes)]
+
+    current_label = self._get_current_torque_version_label()
+
+    def handle_selection(result: int):
+      if result == DialogResult.CONFIRM and self._torque_version_dialog:
+        selected_ref = self._torque_version_dialog.selection_ref
+        if selected_ref == tr("Default"):
+          ui_state.params.remove("TorqueControlTune")
+        elif selected_ref in options_map:
+          ui_state.params.put("TorqueControlTune", options_map[selected_ref])
+      self._torque_version_dialog = None
+
+    self._torque_version_dialog = TreeOptionDialog(
+      tr("Select Torque Control Tune Version"),
+      folders,
+      current_ref=current_label,
+      option_font_weight=FontWeight.UNIFONT,
+    )
+    gui_app.set_modal_overlay(self._torque_version_dialog, callback=handle_selection)
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index 3f6053d158..3f6ef2b439 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -16,6 +16,7 @@ from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_v0 import LatControlTorque as LatControlTorqueV0
 
 
 class ControlsExt(ModelStateBase):
@@ -33,6 +34,17 @@ class ControlsExt(ModelStateBase):
     self.sm_services_ext = ['radarState', 'selfdriveStateSP']
     self.pm_services_ext = ['carControlSP']
 
+  def initialize_lateral_control(self, lac, CI, dt):
+    enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
+    torque_versions = self.params.get("TorqueControlTune")
+    if not enforce_torque_control:
+      return lac
+
+    if torque_versions == 0.0:  # v0
+      return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt)
+    else:
+      return lac
+
   def get_params_sp(self, sm: messaging.SubMaster) -> None:
     if time.monotonic() - self._param_update_time > PARAMS_UPDATE_PERIOD:
       self.blinker_pause_lateral.get_params()
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
new file mode 100644
index 0000000000..f7874cc539
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
@@ -0,0 +1,128 @@
+import math
+import numpy as np
+from collections import deque
+
+from cereal import log
+from opendbc.car.lateral import get_friction
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.common.pid import PIDController
+
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import LatControlTorqueExt
+
+# At higher speeds (25+mph) we can assume:
+# Lateral acceleration achieved by a specific car correlates to
+# torque applied to the steering rack. It does not correlate to
+# wheel slip, or to speed.
+
+# This controller applies torque to achieve desired lateral
+# accelerations. To compensate for the low speed effects the
+# proportional gain is increased at low speeds by the PID controller.
+# Additionally, there is friction in the steering wheel that needs
+# to be overcome to move it at all, this is compensated for too.
+
+KP = 1.0
+KI = 0.3
+KD = 0.0
+INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
+KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
+
+LP_FILTER_CUTOFF_HZ = 1.2
+LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
+FRICTION_THRESHOLD = 0.3
+VERSION = 0
+
+
+class LatControlTorque(LatControl):
+  def __init__(self, CP, CP_SP, CI, dt):
+    super().__init__(CP, CP_SP, CI, dt)
+    self.torque_params = CP.lateralTuning.torque.as_builder()
+    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
+    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
+    self.update_limits()
+    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
+    self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
+    self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
+    self.previous_measurement = 0.0
+    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+
+    self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
+
+  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
+    self.torque_params.latAccelFactor = latAccelFactor
+    self.torque_params.latAccelOffset = latAccelOffset
+    self.torque_params.friction = friction
+    self.update_limits()
+
+  def update_limits(self):
+    self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
+                        self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
+
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
+    # Override torque params from extension
+    if self.extension.update_override_torque_params(self.torque_params):
+      self.update_limits()
+
+    pid_log = log.ControlsState.LateralTorqueState.new_message()
+    pid_log.version = VERSION
+    if not active:
+      output_torque = 0.0
+      pid_log.active = False
+    else:
+      measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
+      curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
+      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
+
+      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
+      expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
+      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
+      future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
+      self.lat_accel_request_buffer.append(future_desired_lateral_accel)
+      gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
+      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
+
+      measurement = measured_curvature * CS.vEgo ** 2
+      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
+      self.previous_measurement = measurement
+
+      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
+      error = setpoint - measurement
+
+      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
+      pid_log.error = float(error)
+      ff = gravity_adjusted_future_lateral_accel
+      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
+      ff -= self.torque_params.latAccelOffset
+      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
+      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      output_lataccel = self.pid.update(pid_log.error,
+                                       -measurement_rate,
+                                        feedforward=ff,
+                                        speed=CS.vEgo,
+                                        freeze_integrator=freeze_integrator)
+      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
+
+      # Lateral acceleration torque controller extension updates
+      # Overrides pid_log.error and output_torque
+      pid_log, output_torque = self.extension.update(CS, VM, self.pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+                                                     future_desired_lateral_accel, measurement, lateral_accel_deadzone, gravity_adjusted_future_lateral_accel,
+                                                     desired_curvature, measured_curvature, steer_limited_by_safety, output_torque)
+
+      pid_log.active = True
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.d = float(self.pid.d)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(-output_torque) # TODO: log lat accel?
+      pid_log.actualLateralAccel = float(measurement)
+      pid_log.desiredLateralAccel = float(setpoint)
+      pid_log.desiredLateralJerk = float(desired_lateral_jerk)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+
+    # TODO left is positive in this convention
+    return -output_torque, 0.0, pid_log
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json
new file mode 100644
index 0000000000..21b5884a01
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json
@@ -0,0 +1,8 @@
+{
+  "v1.0": {
+    "version": "1.0"
+  },
+  "v0.0": {
+    "version": "0.0"
+  }
+}
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index ad94ad35ff..67ce903aba 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -1247,6 +1247,24 @@
     "title": "[TIZI/TICI only] Steering Arc",
     "description": "Display steering arc on the driving screen when lateral control is enabled."
   },
+  "TorqueControlTune": {
+    "title": "Torque Control Tune Version",
+    "description": "Select the version of Torque Control Tune to use.",
+    "options": [
+      {
+        "value": "",
+        "label": "Default"
+      },
+      {
+        "value": 1.0,
+        "label": "v1.0"
+      },
+      {
+        "value": 0.0,
+        "label": "v0.0"
+      }
+    ]
+  },
   "TorqueParamsOverrideEnabled": {
     "title": "Manual Real-Time Tuning",
     "description": ""
diff --git a/sunnypilot/sunnylink/tests/test_params_sync.py b/sunnypilot/sunnylink/tests/test_params_sync.py
index 26bdca42d6..05114de49a 100644
--- a/sunnypilot/sunnylink/tests/test_params_sync.py
+++ b/sunnypilot/sunnylink/tests/test_params_sync.py
@@ -200,3 +200,85 @@ def test_known_params_metadata():
   assert acc_long["min"] == 1
   assert acc_long["max"] == 10
   assert acc_long["step"] == 1
+
+
+def test_torque_control_tune_versions_in_sync():
+  """
+  Test that TorqueControlTune options in params_metadata.json match versions in latcontrol_torque_versions.json.
+
+  Why:
+  The TorqueControlTune dropdown in the UI should always reflect the available torque tune versions.
+  If versions are added/removed from latcontrol_torque_versions.json, the metadata must be updated accordingly.
+
+  Expected:
+  - TorqueControlTune should have a 'Default' option with empty string value
+  - All versions from latcontrol_torque_versions.json should be present in the options
+  - The version values and labels should match between both files
+  """
+  from openpilot.common.basedir import BASEDIR
+
+  versions_json_path = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
+  sync_script_path = "python3 sunnypilot/sunnylink/tools/sync_torque_versions.py"
+
+  # Load both files
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  with open(versions_json_path) as f:
+    versions = json.load(f)
+
+  # Get TorqueControlTune metadata
+  torque_tune = metadata.get("TorqueControlTune")
+  if torque_tune is None:
+    pytest.fail(f"TorqueControlTune not found in params_metadata.json. Please run '{sync_script_path}' to sync.")
+
+  if "options" not in torque_tune:
+    pytest.fail(f"TorqueControlTune must have options. Please run '{sync_script_path}' to sync.")
+
+  options = torque_tune["options"]
+  if not isinstance(options, list):
+    pytest.fail(f"TorqueControlTune options must be a list. Please run '{sync_script_path}' to sync.")
+
+  if len(options) == 0:
+    pytest.fail(f"TorqueControlTune must have at least one option. Please run '{sync_script_path}' to sync.")
+
+  # Check that Default option exists
+  default_option = next((opt for opt in options if opt.get("value") == ""), None)
+  if default_option is None:
+    pytest.fail(f"TorqueControlTune must have a 'Default' option with empty string value. Please run '{sync_script_path}' to sync.")
+
+  if default_option.get("label") != "Default":
+    pytest.fail(f"Default option must have label 'Default'. Please run '{sync_script_path}' to sync.")
+
+  # Build expected options from versions.json
+  expected_version_keys = set(versions.keys())
+  actual_version_keys = set()
+
+  for option in options:
+    if option.get("value") == "":
+      continue  # Skip the default option
+
+    label = option.get("label")
+    value = option.get("value")
+
+    # Check that this option corresponds to a version
+    if label not in versions:
+      pytest.fail(f"Option label '{label}' not found in latcontrol_torque_versions.json. Please run '{sync_script_path}' to sync.")
+
+    # Check that the value matches the version number
+    expected_value = float(versions[label]["version"])
+    if value != expected_value:
+      pytest.fail(f"Option '{label}' has value {value}, expected {expected_value}. Please run '{sync_script_path}' to sync.")
+
+    actual_version_keys.add(label)
+
+  # Check that all versions are represented
+  missing_versions = expected_version_keys - actual_version_keys
+  if missing_versions:
+    pytest.fail(f"The following versions are missing from TorqueControlTune options: {missing_versions}. " +
+                f"Please run '{sync_script_path}' to sync.")
+
+  extra_versions = actual_version_keys - expected_version_keys
+  if extra_versions:
+    pytest.fail("The following versions in TorqueControlTune options are not in latcontrol_torque_versions.json: " +
+                f"{extra_versions}. Please run '{sync_script_path}' to sync.")
diff --git a/sunnypilot/sunnylink/tools/update_params_metadata.py b/sunnypilot/sunnylink/tools/update_params_metadata.py
index ac2ef556e6..3ef91debe0 100755
--- a/sunnypilot/sunnylink/tools/update_params_metadata.py
+++ b/sunnypilot/sunnylink/tools/update_params_metadata.py
@@ -8,9 +8,11 @@ See the LICENSE.md file in the root directory for more details.
 import json
 import os
 
+from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 
 METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json")
+TORQUE_VERSIONS_JSON = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
 
 
 def main():
@@ -51,6 +53,33 @@ def main():
 
   print(f"Updated {METADATA_PATH}")
 
+  # update torque versions param
+  update_torque_versions_param()
+
+def update_torque_versions_param():
+  with open(TORQUE_VERSIONS_JSON) as f:
+    current_versions = json.load(f)
+
+  try:
+    with open(METADATA_PATH) as f:
+      params_metadata = json.load(f)
+
+    options = [{"value": "", "label": "Default"}]
+    for version_key, version_data in current_versions.items():
+      version_value = float(version_data["version"])
+      options.append({"value": version_value, "label": str(version_key)})
+
+    if "TorqueControlTune" in params_metadata:
+      params_metadata["TorqueControlTune"]["options"] = options
+
+      with open(METADATA_PATH, 'w') as f:
+        json.dump(params_metadata, f, indent=2)
+        f.write('\n')
+
+      print(f"Updated TorqueControlTune options in params_metadata.json with {len(options)} options: \n{options}")
+
+  except Exception as e:
+    print(f"Failed to update TorqueControlTune versions in params_metadata.json: {e}")
 
 if __name__ == "__main__":
   main()

From c07ddcefb09f221aa878b8f99224808e8fb621ae Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 17 Feb 2026 19:48:37 -0500
Subject: [PATCH 7/7] version: bump to 2026.001.000

---
 sunnypilot/common/version.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/common/version.h b/sunnypilot/common/version.h
index 6833a508de..1c7fcd2e64 100644
--- a/sunnypilot/common/version.h
+++ b/sunnypilot/common/version.h
@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2025.003.000"
+#define SUNNYPILOT_VERSION "2026.001.000"