FrogPilot Setup

cereal/car.capnp

@@ -117,6 +117,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     paramsdTemporaryError @50;
     paramsdPermanentError @119;
 
+    # FrogPilot events
+
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
     radarCommIssueDEPRECATED @67;

cereal/custom.capnp

@@ -8,16 +8,16 @@ $Cxx.namespace("cereal");
 # cereal, so use these if you want custom events in your fork.
 
 # you can rename the struct, but don't change the identifier
-struct CustomReserved0 @0x81c2f05a394cf4af {
+struct FrogPilotCarControl @0x81c2f05a394cf4af {
 }
 
-struct CustomReserved1 @0xaedffd8f31e7b55d {
+struct FrogPilotDeviceState @0xaedffd8f31e7b55d {
 }
 
-struct CustomReserved2 @0xf35cc4560bbf6ec2 {
+struct FrogPilotNavigation @0xf35cc4560bbf6ec2 {
 }
 
-struct CustomReserved3 @0xda96579883444c35 {
+struct FrogPilotPlan @0xda96579883444c35 {
 }
 
 struct CustomReserved4 @0x80ae746ee2596b11 {

cereal/log.capnp

@@ -731,6 +731,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     normal @0;       # low priority alert for user's convenience
     userPrompt @1;   # mid priority alert that might require user intervention
     critical @2;     # high priority alert that needs immediate user intervention
+    frogpilot @3;    # green startup alert
   }
 
   enum AlertSize {
@@ -2322,10 +2323,10 @@ struct Event {
     customReservedRawData2 @126 :Data;
 
     # *********** Custom: reserved for forks ***********
-    customReserved0 @107 :Custom.CustomReserved0;
-    customReserved1 @108 :Custom.CustomReserved1;
-    customReserved2 @109 :Custom.CustomReserved2;
-    customReserved3 @110 :Custom.CustomReserved3;
+    frogpilotCarControl @107 :Custom.FrogPilotCarControl;
+    frogpilotDeviceState @108 :Custom.FrogPilotDeviceState;
+    frogpilotNavigation @109 :Custom.FrogPilotNavigation;
+    frogpilotPlan @110 :Custom.FrogPilotPlan;
     customReserved4 @111 :Custom.CustomReserved4;
     customReserved5 @112 :Custom.CustomReserved5;
     customReserved6 @113 :Custom.CustomReserved6;

cereal/services.py

@@ -81,6 +81,12 @@ services: dict[str, tuple] = {
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
 
+  # FrogPilot
+  "frogpilotCarControl": (True, 100., 10),
+  "frogpilotDeviceState": (True, 2., 1),
+  "frogpilotNavigation": (True, 1., 10),
+  "frogpilotPlan": (True, 20., 5),
+
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),

common/conversions.py

@@ -8,6 +8,8 @@ class Conversions:
   KPH_TO_MS = 1. / MS_TO_KPH
   MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
   MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
+  METER_TO_FOOT = 3.28084
+  FOOT_TO_METER = 1 / METER_TO_FOOT
   MS_TO_KNOTS = 1.9438
   KNOTS_TO_MS = 1. / MS_TO_KNOTS
 

common/params.cc

@@ -207,6 +207,19 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
+
+    // FrogPilot parameters
+    {"CustomAlerts", PERSISTENT},
+    {"CustomUI", PERSISTENT},
+    {"FrogPilotTogglesUpdated", PERSISTENT},
+    {"FrogsGoMoo", PERSISTENT},
+    {"LateralTune", PERSISTENT},
+    {"LongitudinalTune", PERSISTENT},
+    {"QOLControls", PERSISTENT},
+    {"QOLVisuals", PERSISTENT},
+    {"SilentMode", PERSISTENT},
+    {"StockTune", PERSISTENT},
+    {"StorageParamsSet", PERSISTENT},
 };
 
 } // namespace

common/params.h

@@ -43,6 +43,14 @@ public:
   inline bool getBool(const std::string &key, bool block = false) {
     return get(key, block) == "1";
   }
+  inline int getInt(const std::string &key, bool block = false) {
+    std::string value = get(key, block);
+    return value.empty() ? 0 : std::stoi(value);
+  }
+  inline float getFloat(const std::string &key, bool block = false) {
+    std::string value = get(key, block);
+    return value.empty() ? 0.0 : std::stof(value);
+  }
   std::map<std::string, std::string> readAll();
 
   // helpers for writing values
@@ -53,10 +61,24 @@ public:
   inline int putBool(const std::string &key, bool val) {
     return put(key.c_str(), val ? "1" : "0", 1);
   }
+  inline int putInt(const std::string &key, int val) {
+    return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size());
+  }
+  inline int putFloat(const std::string &key, float val) {
+    return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size());
+  }
   void putNonBlocking(const std::string &key, const std::string &val);
   inline void putBoolNonBlocking(const std::string &key, bool val) {
     putNonBlocking(key, val ? "1" : "0");
   }
+  void putIntNonBlocking(const std::string &key, const std::string &val);
+  inline void putIntNonBlocking(const std::string &key, int val) {
+    putNonBlocking(key, std::to_string(val));
+  }
+  void putFloatNonBlocking(const std::string &key, const std::string &val);
+  inline void putFloatNonBlocking(const std::string &key, float val) {
+    putNonBlocking(key, std::to_string(val));
+  }
 
 private:
   void asyncWriteThread();

common/params_pyx.pyx

@@ -17,11 +17,17 @@ cdef extern from "common/params.h":
     c_Params(string) except + nogil
     string get(string, bool) nogil
     bool getBool(string, bool) nogil
+    int getInt(string, bool) nogil
+    float getFloat(string, bool) nogil
     int remove(string) nogil
     int put(string, string) nogil
     void putNonBlocking(string, string) nogil
     void putBoolNonBlocking(string, bool) nogil
+    void putIntNonBlocking(string, int) nogil
+    void putFloatNonBlocking(string, float) nogil
     int putBool(string, bool) nogil
+    int putInt(string, int) nogil
+    int putFloat(string, float) nogil
     bool checkKey(string) nogil
     string getParamPath(string) nogil
     void clearAll(ParamKeyType)
@@ -77,6 +83,20 @@ cdef class Params:
       r = self.p.getBool(k, block)
     return r
 
+  def get_int(self, key, bool block=False):
+    cdef string k = self.check_key(key)
+    cdef int r
+    with nogil:
+      r = self.p.getInt(k, block)
+    return r
+
+  def get_float(self, key, bool block=False):
+    cdef string k = self.check_key(key)
+    cdef float r
+    with nogil:
+      r = self.p.getFloat(k, block)
+    return r
+
   def put(self, key, dat):
     """
     Warning: This function blocks until the param is written to disk!
@@ -94,6 +114,16 @@ cdef class Params:
     with nogil:
       self.p.putBool(k, val)
 
+  def put_int(self, key, int val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putInt(k, val)
+
+  def put_float(self, key, float val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putFloat(k, val)
+
   def put_nonblocking(self, key, dat):
     cdef string k = self.check_key(key)
     cdef string dat_bytes = ensure_bytes(dat)
@@ -105,6 +135,16 @@ cdef class Params:
     with nogil:
       self.p.putBoolNonBlocking(k, val)
 
+  def put_int_nonblocking(self, key, int val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putIntNonBlocking(k, val)
+
+  def put_float_nonblocking(self, key, float val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putFloatNonBlocking(k, val)
+
   def remove(self, key):
     cdef string k = self.check_key(key)
     with nogil:

common/util.h

@@ -37,6 +37,9 @@ const double MS_TO_KPH = 3.6;
 const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
+const double FOOT_TO_METER = 1 / METER_TO_FOOT;
+const double CM_TO_INCH = METER_TO_FOOT / 100.0 * 12.0;
+const double INCH_TO_CM = 1.0 / CM_TO_INCH;
 
 namespace util {
 

release/files_common

@@ -557,3 +557,6 @@ tinygrad_repo/tinygrad/runtime/ops_disk.py
 tinygrad_repo/tinygrad/runtime/ops_gpu.py
 tinygrad_repo/tinygrad/shape/*
 tinygrad_repo/tinygrad/*.py
+
+selfdrive/frogpilot/functions/frogpilot_functions.py
+selfdrive/frogpilot/functions/frogpilot_planner.py

selfdrive/car/body/carcontroller.py

@@ -34,7 +34,7 @@ class CarController:
       torque -= deadband
     return torque
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
 
     torque_l = 0
     torque_r = 0

selfdrive/car/body/carstate.py

@@ -6,7 +6,7 @@ from openpilot.selfdrive.car.body.values import DBC
 STARTUP_TICKS = 100
 
 class CarState(CarStateBase):
-  def update(self, cp):
+  def update(self, cp, frogpilot_variables):
     ret = car.CarState.new_message()
 
     ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']

selfdrive/car/body/interface.py

@@ -7,7 +7,7 @@ from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.notCar = True
     ret.carName = "body"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
@@ -29,8 +29,8 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def _update(self, c):
-    ret = self.CS.update(self.cp)
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, frogpilot_variables)
 
     # wait for everything to init first
     if self.frame > int(5. / DT_CTRL):
@@ -42,5 +42,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)

selfdrive/car/car_helpers.py

@@ -5,7 +5,7 @@ from typing import Callable, Dict, List, Optional, Tuple
 from cereal import car
 from openpilot.common.params import Params
 from openpilot.common.basedir import BASEDIR
-from openpilot.system.version import is_comma_remote, is_tested_branch
+from openpilot.system.version import get_short_branch, is_comma_remote, is_tested_branch
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
@@ -193,14 +193,20 @@ def fingerprint(logcan, sendcan, num_pandas):
 
 
 def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
+  params = Params()
+  dongle_id = params.get("DongleId", encoding='utf-8')
+
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
   if candidate is None:
     cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
     candidate = "mock"
 
+  if get_short_branch() == "FrogPilot-Development" and not Params("/persist/comma/params").get_bool("FrogsGoMoo"):
+    candidate = "mock"
+
   CarInterface, CarController, CarState = interfaces[candidate]
-  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
+  CP = CarInterface.get_params(params, candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source

selfdrive/car/chrysler/carcontroller.py

@@ -19,7 +19,7 @@ class CarController:
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
     can_sends = []
 
     lkas_active = CC.latActive and self.lkas_control_bit_prev

selfdrive/car/chrysler/carstate.py

@@ -21,7 +21,7 @@ class CarState(CarStateBase):
     else:
       self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, frogpilot_variables):
 
     ret = car.CarState.new_message()
 

selfdrive/car/chrysler/interface.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "chrysler"
     ret.dashcamOnly = candidate in RAM_HD
 
@@ -88,11 +88,11 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
     # events
-    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
+    events = self.create_common_events(ret, frogpilot_variables, extra_gears=[car.CarState.GearShifter.low])
 
     # Low speed steer alert hysteresis logic
     if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
@@ -106,5 +106,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)

selfdrive/car/ford/carcontroller.py

@@ -35,7 +35,7 @@ class CarController:
     self.lkas_enabled_last = False
     self.steer_alert_last = False
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
     can_sends = []
 
     actuators = CC.actuators

selfdrive/car/ford/carstate.py

@@ -20,7 +20,7 @@ class CarState(CarStateBase):
     self.vehicle_sensors_valid = False
     self.unsupported_platform = False
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, frogpilot_variables):
     ret = car.CarState.new_message()
 
     # Ford Q3 hybrid variants experience a bug where a message from the PCM sends invalid checksums,

selfdrive/car/ford/interface.py

@@ -12,7 +12,7 @@ GearShifter = car.CarState.GearShifter
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
     ret.dashcamOnly = candidate in CANFD_CAR
 
@@ -103,10 +103,10 @@ class CarInterface(CarInterfaceBase):
     ret.centerToFront = ret.wheelbase * 0.44
     return ret
 
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
-    events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
+    events = self.create_common_events(ret, frogpilot_variables, extra_gears=[GearShifter.manumatic])
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
     if self.CS.unsupported_platform:
@@ -116,5 +116,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)

selfdrive/car/gm/carcontroller.py

@@ -38,7 +38,9 @@ class CarController:
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
-  def update(self, CC, CS, now_nanos):
+    # FrogPilot variables
+
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
     actuators = CC.actuators
     hud_control = CC.hudControl
     hud_alert = hud_control.visualAlert

selfdrive/car/gm/carstate.py

@@ -26,7 +26,9 @@ class CarState(CarStateBase):
     self.cam_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
 
-  def update(self, pt_cp, cam_cp, loopback_cp):
+    # FrogPilot variables
+
+  def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_variables):
     ret = car.CarState.new_message()
 
     self.prev_cruise_buttons = self.cruise_buttons

selfdrive/car/gm/interface.py

@@ -83,7 +83,7 @@ class CarInterface(CarInterfaceBase):
       return self.torque_from_lateral_accel_linear
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
@@ -271,8 +271,8 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback, frogpilot_variables)
 
     # Don't add event if transitioning from INIT, unless it's to an actual button
     if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
@@ -280,7 +280,7 @@ class CarInterface(CarInterfaceBase):
                                               unpressed_btn=CruiseButtons.UNPRESS)
 
     # The ECM allows enabling on falling edge of set, but only rising edge of resume
-    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
+    events = self.create_common_events(ret, frogpilot_variables, extra_gears=[GearShifter.sport, GearShifter.low,
                                                          GearShifter.eco, GearShifter.manumatic],
                                        pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
     if not self.CP.pcmCruise:
@@ -302,5 +302,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)

selfdrive/car/gm/values.py

@@ -4,6 +4,7 @@ from enum import Enum, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
+from openpilot.common.params import Params
 from openpilot.selfdrive.car import dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries

selfdrive/car/honda/carcontroller.py

@@ -124,7 +124,7 @@ class CarController:
     self.brake = 0.0
     self.last_steer = 0.0
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
     actuators = CC.actuators
     hud_control = CC.hudControl
     conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)

selfdrive/car/honda/carstate.py

@@ -108,7 +108,7 @@ class CarState(CarStateBase):
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
     self.dash_speed_seen = False
 
-  def update(self, cp, cp_cam, cp_body):
+  def update(self, cp, cp_cam, cp_body, frogpilot_variables):
     ret = car.CarState.new_message()
 
     # car params

selfdrive/car/honda/interface.py

@@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
       return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "honda"
 
     if candidate in HONDA_BOSCH:
@@ -310,8 +310,8 @@ class CarInterface(CarInterfaceBase):
       disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
 
   # returns a car.CarState
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body, frogpilot_variables)
 
     ret.buttonEvents = [
       *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
@@ -319,7 +319,7 @@ class CarInterface(CarInterfaceBase):
     ]
 
     # events
-    events = self.create_common_events(ret, pcm_enable=False)
+    events = self.create_common_events(ret, frogpilot_variables, pcm_enable=False)
     if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
       events.add(EventName.belowEngageSpeed)
 
@@ -344,5 +344,5 @@ class CarInterface(CarInterfaceBase):
 
   # pass in a car.CarControl
   # to be called @ 100hz
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)

selfdrive/car/hyundai/carcontroller.py

@@ -56,7 +56,7 @@ class CarController:
     self.car_fingerprint = CP.carFingerprint
     self.last_button_frame = 0
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
     actuators = CC.actuators
     hud_control = CC.hudControl
 

selfdrive/car/hyundai/carstate.py

@@ -52,9 +52,11 @@ class CarState(CarStateBase):
 
     self.params = CarControllerParams(CP)
 
-  def update(self, cp, cp_cam):
+    # FrogPilot variables
+
+  def update(self, cp, cp_cam, frogpilot_variables):
     if self.CP.carFingerprint in CANFD_CAR:
-      return self.update_canfd(cp, cp_cam)
+      return self.update_canfd(cp, cp_cam, frogpilot_variables)
 
     ret = car.CarState.new_message()
     cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
@@ -166,7 +168,7 @@ class CarState(CarStateBase):
 
     return ret
 
-  def update_canfd(self, cp, cp_cam):
+  def update_canfd(self, cp, cp_cam, frogpilot_variables):
     ret = car.CarState.new_message()
 
     self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1

selfdrive/car/hyundai/interface.py

@@ -20,7 +20,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "hyundai"
     ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
@@ -343,8 +343,8 @@ class CarInterface(CarInterfaceBase):
     if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
       disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
 
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
     if self.CS.CP.openpilotLongitudinalControl:
       ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
@@ -353,7 +353,7 @@ class CarInterface(CarInterfaceBase):
     # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
     # Main button also can trigger an engagement on these cars
     allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
-    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
+    events = self.create_common_events(ret, frogpilot_variables, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
 
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
     if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -367,5 +367,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)

selfdrive/car/interfaces.py

@@ -11,12 +11,15 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
+from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 
+from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import FrogPilotFunctions
+
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
 EventName = car.CarEvent.EventName
@@ -95,6 +98,9 @@ class CarInterfaceBase(ABC):
     if CarController is not None:
       self.CC = CarController(self.cp.dbc_name, CP, self.VM)
 
+    # FrogPilot variables
+    params = Params()
+
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     return ACCEL_MIN, ACCEL_MAX
@@ -107,9 +113,9 @@ class CarInterfaceBase(ABC):
     return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
 
   @classmethod
-  def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+  def get_params(cls, params, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
-    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
+    ret = cls._get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs)
 
     # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
     if not ret.notCar:
@@ -204,14 +210,14 @@ class CarInterfaceBase(ABC):
   def _update(self, c: car.CarControl) -> car.CarState:
     pass
 
-  def update(self, c: car.CarControl, can_strings: List[bytes]) -> car.CarState:
+  def update(self, c: car.CarControl, can_strings: List[bytes], frogpilot_variables) -> car.CarState:
     # parse can
     for cp in self.can_parsers:
       if cp is not None:
         cp.update_strings(can_strings)
 
     # get CarState
-    ret = self._update(c)
+    ret = self._update(c, frogpilot_variables)
 
     ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None)
     ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None)
@@ -241,7 +247,7 @@ class CarInterfaceBase(ABC):
   def apply(self, c: car.CarControl, now_nanos: int) -> Tuple[car.CarControl.Actuators, List[bytes]]:
     pass
 
-  def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
+  def create_common_events(self, cs_out, frogpilot_variables, extra_gears=None, pcm_enable=True, allow_enable=True,
                            enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
     events = Events()
 
@@ -354,6 +360,9 @@ class CarStateBase(ABC):
     K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R)
     self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
 
+    # FrogPilot variables
+    self.fpf = FrogPilotFunctions()
+
   def update_speed_kf(self, v_ego_raw):
     if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed
       self.v_ego_kf.set_x([[v_ego_raw], [0.0]])

selfdrive/car/mazda/carcontroller.py

@@ -15,7 +15,7 @@ class CarController:
     self.brake_counter = 0
     self.frame = 0
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
     can_sends = []
 
     apply_steer = 0

selfdrive/car/mazda/carstate.py

@@ -18,7 +18,7 @@ class CarState(CarStateBase):
     self.lkas_allowed_speed = False
     self.lkas_disabled = False
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, frogpilot_variables):
 
     ret = car.CarState.new_message()
     ret.wheelSpeeds = self.get_wheel_speeds(

selfdrive/car/mazda/interface.py

@@ -11,7 +11,7 @@ EventName = car.CarEvent.EventName
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mazda"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True
@@ -49,11 +49,11 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
     # events
-    events = self.create_common_events(ret)
+    events = self.create_common_events(ret, frogpilot_variables)
 
     if self.CS.lkas_disabled:
       events.add(EventName.lkasDisabled)
@@ -64,5 +64,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)

selfdrive/car/mock/interface.py

@@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase):
     self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mock"
     ret.mass = 1700.
     ret.wheelbase = 2.70
@@ -20,7 +20,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerRatio = 13.
     return ret
 
-  def _update(self, c):
+  def _update(self, c, frogpilot_variables):
     self.sm.update(0)
     gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
 
@@ -30,6 +30,6 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
+  def apply(self, c, now_nanos, frogpilot_variables):
     actuators = car.CarControl.Actuators.new_message()
     return actuators, []

selfdrive/car/nissan/carcontroller.py

@@ -18,7 +18,7 @@ class CarController:
 
     self.packer = CANPacker(dbc_name)
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel

selfdrive/car/nissan/carstate.py

@@ -20,7 +20,7 @@ class CarState(CarStateBase):
     self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
     self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
 
-  def update(self, cp, cp_adas, cp_cam):
+  def update(self, cp, cp_adas, cp_cam, frogpilot_variables):
     ret = car.CarState.new_message()
 
     if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):

selfdrive/car/nissan/interface.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.nissan.values import CAR
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "nissan"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
     ret.autoResumeSng = False
@@ -39,15 +39,15 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam, frogpilot_variables)
 
     buttonEvents = []
     be = car.CarState.ButtonEvent.new_message()
     be.type = car.CarState.ButtonEvent.Type.accelCruise
     buttonEvents.append(be)
 
-    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
+    events = self.create_common_events(ret, frogpilot_variables, extra_gears=[car.CarState.GearShifter.brake])
 
     if self.CS.lkas_enabled:
       events.add(car.CarEvent.EventName.invalidLkasSetting)
@@ -56,5 +56,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)

selfdrive/car/subaru/carcontroller.py

@@ -23,7 +23,7 @@ class CarController:
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel

selfdrive/car/subaru/carstate.py

@@ -16,7 +16,7 @@ class CarState(CarStateBase):
 
     self.angle_rate_calulator = CanSignalRateCalculator(50)
 
-  def update(self, cp, cp_cam, cp_body):
+  def update(self, cp, cp_cam, cp_body, frogpilot_variables):
     ret = car.CarState.new_message()
 
     throttle_msg = cp.vl["Throttle"] if self.car_fingerprint not in HYBRID_CARS else cp_body.vl["Throttle_Hybrid"]

selfdrive/car/subaru/interface.py

@@ -9,7 +9,7 @@ from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGL
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "subaru"
     ret.radarUnavailable = True
     # for HYBRID CARS to be upstreamed, we need:
@@ -136,11 +136,11 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
+  def _update(self, c, frogpilot_variables):
 
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body, frogpilot_variables)
 
-    ret.events = self.create_common_events(ret).to_msg()
+    ret.events = self.create_common_events(ret, frogpilot_variables).to_msg()
 
     return ret
 
@@ -149,5 +149,5 @@ class CarInterface(CarInterfaceBase):
     if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
       disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
 
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)

selfdrive/car/subaru/values.py

@@ -4,6 +4,7 @@ from typing import Dict, List, Union
 
 from cereal import car
 from panda.python import uds
+from openpilot.common.params import Params
 from openpilot.selfdrive.car import dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16

selfdrive/car/tesla/carcontroller.py

@@ -14,7 +14,7 @@ class CarController:
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
     self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
 
-  def update(self, CC, CS, now_nanos):
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
     actuators = CC.actuators
     pcm_cancel_cmd = CC.cruiseControl.cancel
 

selfdrive/car/tesla/carstate.py

@@ -20,7 +20,7 @@ class CarState(CarStateBase):
     self.acc_state = 0
     self.das_control_counters = deque(maxlen=32)
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, frogpilot_variables):
     ret = car.CarState.new_message()
 
     # Vehicle speed

selfdrive/car/tesla/interface.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "tesla"
 
     # There is no safe way to do steer blending with user torque,
@@ -51,12 +51,12 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
-    ret.events = self.create_common_events(ret).to_msg()
+    ret.events = self.create_common_events(ret, frogpilot_variables).to_msg()
 
     return ret
 
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)

selfdrive/car/tests/test_car_interfaces.py

@@ -9,6 +9,7 @@ from parameterized import parameterized
 
 from cereal import car, messaging
 from openpilot.common.realtime import DT_CTRL
+from openpilot.common.params import Params
 from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
@@ -18,6 +19,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
+from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
 
 ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()})
@@ -44,7 +46,6 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
   params['car_fw'] = [car.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0) for fw in params['car_fw']]
   return params
 
-
 class TestCarInterfaces(unittest.TestCase):
   # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
   #  many generated examples to overrun when max_examples > ~20, don't use it
@@ -56,9 +57,11 @@ class TestCarInterfaces(unittest.TestCase):
     CarInterface, CarController, CarState = interfaces[car_name]
 
     args = get_fuzzy_car_interface_args(data.draw)
+    params = Params()
 
-    car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
+    car_params = CarInterface.get_params(params, car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
+      
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface
@@ -94,18 +97,19 @@ class TestCarInterfaces(unittest.TestCase):
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
+    controls = Controls(CI=car_interface)
     for _ in range(10):
-      car_interface.update(CC, [])
-      car_interface.apply(CC, now_nanos)
-      car_interface.apply(CC, now_nanos)
+      car_interface.update(CC, [], controls.frogpilot_variables)
+      car_interface.apply(CC, now_nanos, controls.frogpilot_variables)
+      car_interface.apply(CC, now_nanos, controls.frogpilot_variables)
       now_nanos += DT_CTRL * 1e9  # 10 ms
 
     CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
     for _ in range(10):
-      car_interface.update(CC, [])
-      car_interface.apply(CC, now_nanos)
-      car_interface.apply(CC, now_nanos)
+      car_interface.update(CC, [], controls.frogpilot_variables)
+      car_interface.apply(CC, now_nanos, controls.frogpilot_variables)
+      car_interface.apply(CC, now_nanos, controls.frogpilot_variables)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization

selfdrive/car/toyota/carcontroller.py

@@ -1,5 +1,6 @@
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.params import Params
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
                           create_gas_interceptor_command, make_can_msg
 from openpilot.selfdrive.car.toyota import toyotacan
@@ -41,7 +42,10 @@ class CarController:
     self.gas = 0
     self.accel = 0
 
-  def update(self, CC, CS, now_nanos):
+    # FrogPilot variables
+    params = Params()
+
+  def update(self, CC, CS, now_nanos, frogpilot_variables):
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
@@ -142,10 +146,12 @@ class CarController:
       if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
         can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
       elif self.CP.openpilotLongitudinalControl:
-        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert))
+        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
+                         frogpilot_variables))
         self.accel = pcm_accel_cmd
       else:
-        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
+        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False,
+                         frogpilot_variables))
 
     if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
       # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.

selfdrive/car/toyota/carstate.py

@@ -44,7 +44,9 @@ class CarState(CarStateBase):
     self.acc_type = 1
     self.lkas_hud = {}
 
-  def update(self, cp, cp_cam):
+    # FrogPilot variables
+
+  def update(self, cp, cp_cam, frogpilot_variables):
     ret = car.CarState.new_message()
 
     ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"],

selfdrive/car/toyota/interface.py

@@ -18,7 +18,7 @@ class CarInterface(CarInterfaceBase):
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "toyota"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
     ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
@@ -289,11 +289,11 @@ class CarInterface(CarInterfaceBase):
       disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
 
   # returns a car.CarState
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam)
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
     # events
-    events = self.create_common_events(ret)
+    events = self.create_common_events(ret, frogpilot_variables)
 
     # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
     # the more accurate angle sensor signal is initialized
@@ -320,5 +320,5 @@ class CarInterface(CarInterfaceBase):
 
   # pass in a car.CarControl
   # to be called @ 100hz
-  def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)

selfdrive/car/toyota/toyotacan.py

@@ -33,7 +33,7 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
 
-def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert):
+def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, frogpilot_variables):
   # TODO: find the exact canceling bit that does not create a chime
   values = {
     "ACCEL_CMD": accel,

selfdrive/car/volkswagen/carcontroller.py

@@ -25,7 +25,7 @@ class CarController:
     self.hca_frame_timer_running = 0
     self.hca_frame_same_torque = 0
 
-  def update(self, CC, CS, ext_bus, now_nanos):
+  def update(self, CC, CS, ext_bus, now_nanos, frogpilot_variables):
     actuators = CC.actuators
     hud_control = CC.hudControl
     can_sends = []

selfdrive/car/volkswagen/carstate.py

@@ -30,9 +30,9 @@ class CarState(CarStateBase):
 
     return button_events
 
-  def update(self, pt_cp, cam_cp, ext_cp, trans_type):
+  def update(self, pt_cp, cam_cp, ext_cp, trans_type, frogpilot_variables):
     if self.CP.carFingerprint in PQ_CARS:
-      return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type)
+      return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type, frogpilot_variables)
 
     ret = car.CarState.new_message()
     # Update vehicle speed and acceleration from ABS wheel speeds.
@@ -153,7 +153,7 @@ class CarState(CarStateBase):
 
     return ret
 
-  def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
+  def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type, frogpilot_variables):
     ret = car.CarState.new_message()
     # Update vehicle speed and acceleration from ABS wheel speeds.
     ret.wheelSpeeds = self.get_wheel_speeds(

selfdrive/car/volkswagen/interface.py

@@ -23,7 +23,7 @@ class CarInterface(CarInterfaceBase):
     self.eps_timer_soft_disable_alert = False
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "volkswagen"
     ret.radarUnavailable = True
 
@@ -225,10 +225,10 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
+  def _update(self, c, frogpilot_variables):
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType, frogpilot_variables)
 
-    events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+    events = self.create_common_events(ret, frogpilot_variables, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                        pcm_enable=not self.CS.CP.openpilotLongitudinalControl,
                                        enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
 
@@ -253,6 +253,6 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c, now_nanos):
-    new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos)
+  def apply(self, c, now_nanos, frogpilot_variables):
+    new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos, frogpilot_variables)
     return new_actuators, can_sends

selfdrive/controls/controlsd.py

@@ -3,11 +3,12 @@ import os
 import math
 import time
 import threading
+from types import SimpleNamespace
 from typing import SupportsFloat
 
 import cereal.messaging as messaging
 
-from cereal import car, log
+from cereal import car, log, custom
 from cereal.visionipc import VisionIpcClient, VisionStreamType
 
 from panda import ALTERNATIVE_EXPERIENCE
@@ -53,6 +54,7 @@ LaneChangeDirection = log.LaneChangeDirection
 EventName = car.CarEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
+GearShifter = car.CarState.GearShifter
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 CSID_MAP = {"1": EventName.roadCameraError, "2": EventName.wideRoadCameraError, "0": EventName.driverCameraError}
@@ -90,14 +92,14 @@ class CarD:
     """Initialize CarInterface, once controls are ready"""
     self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
 
-  def state_update(self, CC: car.CarControl):
+  def state_update(self, CC: car.CarControl, frogpilot_variables):
     """carState update loop, driven by can"""
 
     # TODO: This should not depend on carControl
 
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    self.CS = self.CI.update(CC, can_strs)
+    self.CS = self.CI.update(CC, can_strs, frogpilot_variables)
 
     self.sm.update(0)
 
@@ -136,12 +138,12 @@ class CarD:
       cp_send.carParams = self.CP
       self.pm.send('carParams', cp_send)
 
-  def controls_update(self, CC: car.CarControl):
+  def controls_update(self, CC: car.CarControl, frogpilot_variables):
     """control update loop, driven by carControl"""
 
     # send car controls over can
     now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-    actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+    actuators_output, can_sends = self.CI.apply(CC, now_nanos, frogpilot_variables)
     self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid))
 
     return actuators_output
@@ -160,21 +162,28 @@ class Controls:
     self.branch = get_short_branch()
 
     # Setup sockets
-    self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents'])
+    self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents', 'frogpilotCarControl'])
 
     self.sensor_packets = ["accelerometer", "gyroscope"]
     self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
 
     self.log_sock = messaging.sub_sock('androidLog')
 
+    # FrogPilot variables
     self.params = Params()
+    self.params_memory = Params("/dev/shm/params")
+
+    self.frogpilot_variables = SimpleNamespace()
+
+    self.driving_gear = False
+
     ignore = self.sensor_packets + ['testJoystick']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'testJoystick'] + self.camera_packets + self.sensor_packets,
+                                   'testJoystick', 'frogpilotPlan'] + self.camera_packets + self.sensor_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
                                   frequency=int(1/DT_CTRL))
 
@@ -191,6 +200,8 @@ class Controls:
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
+    self.update_frogpilot_params()
+
     # detect sound card presence and ensure successful init
     sounds_available = HARDWARE.get_sound_card_online()
 
@@ -222,6 +233,7 @@ class Controls:
 
     self.CC = car.CarControl.new_message()
     self.CS_prev = car.CarState.new_message()
+    self.FPCC = custom.FrogPilotCarControl.new_message()
     self.AM = AlertManager()
     self.events = Events()
 
@@ -291,6 +303,8 @@ class Controls:
 
     self.events.clear()
 
+    frogpilot_plan = self.sm['frogpilotPlan']
+
     # Add joystick event, static on cars, dynamic on nonCars
     if self.joystick_mode:
       self.events.add(EventName.joystickDebug)
@@ -506,7 +520,7 @@ class Controls:
   def data_sample(self):
     """Receive data from sockets and update carState"""
 
-    CS = self.card.state_update(self.CC)
+    CS = self.card.state_update(self.CC, self.frogpilot_variables)
 
     self.sm.update(0)
 
@@ -630,7 +644,7 @@ class Controls:
           else:
             self.state = State.enabled
           self.current_alert_types.append(ET.ENABLE)
-          self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
+          self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode, self.frogpilot_variables)
 
     # Check if openpilot is engaged and actuators are enabled
     self.enabled = self.state in ENABLED_STATES
@@ -660,6 +674,12 @@ class Controls:
     CC = car.CarControl.new_message()
     CC.enabled = self.enabled
 
+    # FrogPilot functions
+    frogpilot_plan = self.sm['frogpilotPlan']
+
+    # Gear Check
+    self.driving_gear = CS.gearShifter not in (GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown)
+
     # Check which actuators can be enabled
     standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
     CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
@@ -826,7 +846,7 @@ class Controls:
       hudControl.visualAlert = current_alert.visual_alert
 
     if not self.CP.passive and self.initialized:
-      self.last_actuators = self.card.controls_update(CC)
+      self.last_actuators = self.card.controls_update(CC, self.frogpilot_variables)
       CC.actuatorsOutput = self.last_actuators
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.steer_limited = abs(CC.actuators.steeringAngleDeg - CC.actuatorsOutput.steeringAngleDeg) > \
@@ -910,6 +930,12 @@ class Controls:
     # copy CarControl to pass to CarInterface on the next iteration
     self.CC = CC
 
+    # Publish FrogPilot variables
+    fpcs_send = messaging.new_message('frogpilotCarControl')
+    fpcs_send.valid = CS.canValid
+    fpcs_send.frogpilotCarControl = self.FPCC
+    self.pm.send('frogpilotCarControl', fpcs_send)
+
   def step(self):
     start_time = time.monotonic()
 
@@ -940,6 +966,10 @@ class Controls:
         self.joystick_mode = self.params.get_bool("JoystickDebugMode")
       time.sleep(0.1)
 
+      # Update FrogPilot parameters
+      if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
+        self.update_frogpilot_params()
+
   def controlsd_thread(self):
     e = threading.Event()
     t = threading.Thread(target=self.params_thread, args=(e, ))
@@ -952,6 +982,14 @@ class Controls:
       e.set()
       t.join()
 
+  def update_frogpilot_params(self):
+    custom_alerts = self.params.get_bool("CustomAlerts")
+
+    lateral_tune = self.params.get_bool("LateralTune")
+
+    longitudinal_tune = self.params.get_bool("LongitudinalTune")
+
+    quality_of_life = self.params.get_bool("QOLControls")
 
 def main():
   controls = Controls()

selfdrive/controls/lib/desire_helper.py

@@ -1,5 +1,6 @@
 from cereal import log
 from openpilot.common.conversions import Conversions as CV
+from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 
 LaneChangeState = log.LaneChangeState
@@ -40,7 +41,13 @@ class DesireHelper:
     self.prev_one_blinker = False
     self.desire = log.Desire.none
 
-  def update(self, carstate, lateral_active, lane_change_prob):
+    # FrogPilot variables
+    self.params = Params()
+    self.params_memory = Params("/dev/shm/params")
+
+    self.update_frogpilot_params()
+
+  def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan):
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
@@ -112,3 +119,9 @@ class DesireHelper:
         self.keep_pulse_timer = 0.0
       elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight):
         self.desire = log.Desire.none
+
+    if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
+      self.update_frogpilot_params()
+
+  def update_frogpilot_params(self):
+    is_metric = self.params.get_bool("IsMetric")

selfdrive/controls/lib/drive_helpers.py

@@ -3,6 +3,7 @@ import math
 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 
 # WARNING: this value was determined based on the model's training distribution,
@@ -45,6 +46,8 @@ class VCruiseHelper:
     self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
     self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
 
+    # FrogPilot variables
+
   @property
   def v_cruise_initialized(self):
     return self.v_cruise_kph != V_CRUISE_UNSET
@@ -125,7 +128,7 @@ class VCruiseHelper:
         self.button_timers[b.type.raw] = 1 if b.pressed else 0
         self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
 
-  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
+  def initialize_v_cruise(self, CS, experimental_mode: bool, frogpilot_variables) -> None:
     # initializing is handled by the PCM
     if self.CP.pcmCruise:
       return

selfdrive/controls/lib/events.py

@@ -228,7 +228,7 @@ def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
   if "REPLAY" in os.environ:
     branch = "replay"
 
-  return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt)
+  return StartupAlert("Hippity hoppity this is my property", "so I do what I want 🐸", alert_status=AlertStatus.frogpilot)
 
 def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
   return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage")
@@ -332,6 +332,7 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
   return NormalPermanentAlert("Joystick Mode", vals)
 
 
+# FrogPilot alerts
 
 EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   # ********** events with no alerts **********
@@ -956,6 +957,8 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"),
   },
 
+  # FrogPilot Events
+
 }
 
 

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -221,6 +221,8 @@ def gen_long_ocp():
 
 class LongitudinalMpc:
   def __init__(self, mode='acc'):
+    # FrogPilot variables
+
     self.mode = mode
     self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
     self.reset()
@@ -330,7 +332,7 @@ class LongitudinalMpc:
     self.cruise_min_a = min_a
     self.max_a = max_a
 
-  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
+  def update(self, radarstate, v_cruise, x, v, a, j, frogpilot_planner, personality=log.LongitudinalPersonality.standard):
     t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status

selfdrive/controls/lib/longitudinal_planner.py

@@ -88,7 +88,7 @@ class LongitudinalPlanner:
       j = np.zeros(len(T_IDXS_MPC))
     return x, v, a, j
 
-  def update(self, sm):
+  def update(self, sm, frogpilot_planner, params_memory):
     if self.param_read_counter % 50 == 0:
       self.read_param()
     self.param_read_counter += 1
@@ -134,7 +134,7 @@ class LongitudinalPlanner:
     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)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=self.personality)
+    self.mpc.update(sm['radarState'], frogpilot_planner.v_cruise, x, v, a, j, frogpilot_planner, personality=self.personality)
 
     self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
@@ -152,7 +152,9 @@ class LongitudinalPlanner:
     self.a_desired = float(interp(self.dt, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory))
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
-  def publish(self, sm, pm):
+    frogpilot_planner.update(sm['carState'], sm['controlsState'], sm['modelV2'], self.mpc, sm, v_cruise, v_ego)
+
+  def publish(self, sm, pm, frogpilot_planner):
     plan_send = messaging.new_message('longitudinalPlan')
 
     plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
@@ -173,3 +175,5 @@ class LongitudinalPlanner:
     longitudinalPlan.personality = self.personality
 
     pm.send('longitudinalPlan', plan_send)
+
+    frogpilot_planner.publish(sm, pm, self.mpc)

selfdrive/controls/plannerd.py

@@ -6,6 +6,8 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
 import cereal.messaging as messaging
 
+from openpilot.selfdrive.frogpilot.functions.frogpilot_planner import FrogPilotPlanner
+
 def publish_ui_plan(sm, pm, longitudinal_planner):
   ui_send = messaging.new_message('uiPlan')
   ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
@@ -22,22 +24,27 @@ def plannerd_thread():
 
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()
+  params_memory = Params("/dev/shm/params")
   with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
     CP = msg
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
+  frogpilot_planner = FrogPilotPlanner(CP, params, params_memory)
   longitudinal_planner = LongitudinalPlanner(CP)
-  pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
+  pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan', 'frogpilotPlan'])
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'frogpilotNavigation'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:
     sm.update()
     if sm.updated['modelV2']:
-      longitudinal_planner.update(sm)
-      longitudinal_planner.publish(sm, pm)
+      longitudinal_planner.update(sm, frogpilot_planner, params_memory)
+      longitudinal_planner.publish(sm, pm, frogpilot_planner)
       publish_ui_plan(sm, pm, longitudinal_planner)
 
+    if params_memory.get_bool("FrogPilotTogglesUpdated"):
+      frogpilot_planner.update_frogpilot_params(params)
+
 def main():
   plannerd_thread()
 

selfdrive/frogpilot/functions/frogpilot_functions.py

@@ -0,0 +1,15 @@
+import numpy as np
+
+from openpilot.common.numpy_fast import interp
+from openpilot.common.params import Params
+from openpilot.system.hardware import HARDWARE
+
+
+params_memory = Params("/dev/shm/params")
+
+CRUISING_SPEED = 5  # Roughly the speed cars go when not touching the gas while in drive
+THRESHOLD = 5       # Time threshold (0.25s)
+
+class FrogPilotFunctions:
+  def __init__(self) -> None:
+    self.params = Params()

selfdrive/frogpilot/functions/frogpilot_planner.py

@@ -0,0 +1,49 @@
+import cereal.messaging as messaging
+
+from openpilot.common.conversions import Conversions as CV
+
+from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import CRUISING_SPEED, FrogPilotFunctions
+
+class FrogPilotPlanner:
+  def __init__(self, CP, params, params_memory):
+    self.CP = CP
+    self.params_memory = params_memory
+
+    self.fpf = FrogPilotFunctions()
+
+    self.v_cruise = 0
+
+    self.update_frogpilot_params(params)
+
+  def update(self, carState, controlsState, modelData, mpc, sm, v_cruise, v_ego):
+    enabled = controlsState.enabled
+
+    # Update the max allowed speed
+    self.v_cruise = self.update_v_cruise(carState, controlsState, enabled, modelData, v_cruise, v_ego)
+
+  def update_v_cruise(self, carState, controlsState, enabled, modelData, v_cruise, v_ego):
+    # Offsets to adjust the max speed to match the cluster
+    v_ego_cluster = max(carState.vEgoCluster, v_ego)
+    v_ego_diff = v_ego_cluster - v_ego
+
+    v_cruise_cluster = max(controlsState.vCruiseCluster, controlsState.vCruise) * CV.KPH_TO_MS
+    v_cruise_diff = v_cruise_cluster - v_cruise
+
+    targets = []
+    filtered_targets = [target for target in targets if target > CRUISING_SPEED]
+
+    return (min(filtered_targets) if filtered_targets else v_cruise)
+
+  def publish(self, sm, pm, mpc):
+    frogpilot_plan_send = messaging.new_message('frogpilotPlan')
+    frogpilot_plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
+    frogpilotPlan = frogpilot_plan_send.frogpilotPlan
+
+    pm.send('frogpilotPlan', frogpilot_plan_send)
+
+  def update_frogpilot_params(self, params):
+    self.is_metric = params.get_bool("IsMetric")
+
+    custom_ui = params.get_bool("CustomUI")
+
+    longitudinal_tune = params.get_bool("LongitudinalTune")

selfdrive/frogpilot/ui/control_settings.cc

@@ -0,0 +1,159 @@
+#include "selfdrive/frogpilot/ui/control_settings.h"
+
+FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
+  const std::vector<std::tuple<QString, QString, QString, QString>> controlToggles {
+    {"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
+
+    {"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
+
+    {"QOLControls", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
+  };
+
+  for (const auto &[param, title, desc, icon] : controlToggles) {
+    ParamControl *toggle;
+
+    if (param == "LateralTune") {
+      FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(lateralTuneKeys.find(key.c_str()) != lateralTuneKeys.end());
+        }
+      });
+      toggle = lateralTuneToggle;
+
+    } else if (param == "LongitudinalTune") {
+      FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(longitudinalTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(longitudinalTuneKeys.find(key.c_str()) != longitudinalTuneKeys.end());
+        }
+      });
+      toggle = longitudinalTuneToggle;
+
+    } else if (param == "QOLControls") {
+      FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(qolKeys.find(key.c_str()) != qolKeys.end());
+        }
+      });
+      toggle = qolToggle;
+
+    } else {
+      toggle = new ParamControl(param, title, desc, icon, this);
+    }
+
+    addItem(toggle);
+    toggles[param.toStdString()] = toggle;
+
+    QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
+      updateToggles();
+    });
+
+    QObject::connect(static_cast<FrogPilotParamValueControl*>(toggle), &FrogPilotParamValueControl::valueChanged, [this]() {
+      updateToggles();
+    });
+
+    QObject::connect(toggle, &AbstractControl::showDescriptionEvent, [this]() {
+      update();
+    });
+
+    QObject::connect(static_cast<FrogPilotParamManageControl*>(toggle), &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+      update();
+    });
+  }
+
+  std::set<std::string> rebootKeys = {};
+  for (const std::string &key : rebootKeys) {
+    QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this, key]() {
+      if (started) {
+        if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
+          Hardware::soft_reboot();
+        }
+      }
+    });
+  }
+
+  QObject::connect(device(), &Device::interactiveTimeout, this, &FrogPilotControlsPanel::hideSubToggles);
+  QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotControlsPanel::hideSubToggles);
+  QObject::connect(parent, &SettingsWindow::closeSubParentToggle, this, &FrogPilotControlsPanel::hideSubSubToggles);
+  QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotControlsPanel::updateMetric);
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &FrogPilotControlsPanel::updateCarToggles);
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotControlsPanel::updateState);
+
+  hideSubToggles();
+  updateMetric();
+}
+
+void FrogPilotControlsPanel::updateState(const UIState &s) {
+  started = s.scene.started;
+}
+
+void FrogPilotControlsPanel::updateToggles() {
+  std::thread([this]() {
+    paramsMemory.putBool("FrogPilotTogglesUpdated", true);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+    paramsMemory.putBool("FrogPilotTogglesUpdated", false);
+  }).detach();
+}
+
+void FrogPilotControlsPanel::updateCarToggles() {
+}
+
+void FrogPilotControlsPanel::updateMetric() {
+  bool previousIsMetric = isMetric;
+  isMetric = params.getBool("IsMetric");
+
+  if (isMetric != previousIsMetric) {
+    double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
+    double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE;
+  }
+
+  if (isMetric) {
+  } else {
+  }
+
+  previousIsMetric = isMetric;
+}
+
+void FrogPilotControlsPanel::parentToggleClicked() {
+  openParentToggle();
+}
+
+void FrogPilotControlsPanel::subParentToggleClicked() {
+  openSubParentToggle();
+}
+
+void FrogPilotControlsPanel::hideSubToggles() {
+  for (auto &[key, toggle] : toggles) {
+    bool subToggles = conditionalExperimentalKeys.find(key.c_str()) != conditionalExperimentalKeys.end() ||
+                      fireTheBabysitterKeys.find(key.c_str()) != fireTheBabysitterKeys.end() ||
+                      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();
+    toggle->setVisible(!subToggles);
+  }
+
+  closeParentToggle();
+}
+
+void FrogPilotControlsPanel::hideSubSubToggles() {
+  for (auto &[key, toggle] : toggles) {
+    bool isVisible = false;
+    toggle->setVisible(isVisible);
+  }
+
+  closeSubParentToggle();
+  update();
+}
+
+void FrogPilotControlsPanel::hideEvent(QHideEvent *event) {
+  hideSubToggles();
+}

selfdrive/frogpilot/ui/control_settings.h

@@ -0,0 +1,52 @@
+#pragma once
+
+#include <set>
+
+#include "selfdrive/frogpilot/ui/frogpilot_ui_functions.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+#include "selfdrive/ui/ui.h"
+
+class FrogPilotControlsPanel : public FrogPilotListWidget {
+  Q_OBJECT
+
+public:
+  explicit FrogPilotControlsPanel(SettingsWindow *parent);
+
+signals:
+  void closeParentToggle();
+  void closeSubParentToggle();
+  void openParentToggle();
+  void openSubParentToggle();
+
+private:
+  void hideEvent(QHideEvent *event);
+  void hideSubSubToggles();
+  void hideSubToggles();
+  void parentToggleClicked();
+  void subParentToggleClicked();
+  void updateCarToggles();
+  void updateMetric();
+  void updateState(const UIState &s);
+  void updateToggles();
+
+  std::set<QString> conditionalExperimentalKeys = {};
+  std::set<QString> fireTheBabysitterKeys = {};
+  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> speedLimitControllerControlsKeys = {};
+  std::set<QString> speedLimitControllerQOLKeys = {};
+  std::set<QString> speedLimitControllerVisualsKeys = {};
+  std::set<QString> visionTurnControlKeys = {};
+
+  std::map<std::string, ParamControl*> toggles;
+
+  Params params;
+  Params paramsMemory{"/dev/shm/params"};
+
+  bool isMetric = params.getBool("IsMetric");
+  bool started = false;
+};

selfdrive/frogpilot/ui/frogpilot_ui_functions.cc

@@ -0,0 +1,42 @@
+#include <filesystem>
+
+#include "selfdrive/frogpilot/ui/frogpilot_ui_functions.h"
+#include "selfdrive/ui/ui.h"
+
+bool FrogPilotConfirmationDialog::toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent) {
+  ConfirmationDialog d = ConfirmationDialog(prompt_text, confirm_text, tr("Reboot Later"), false, parent);
+  return d.exec();
+}
+
+bool FrogPilotConfirmationDialog::toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent) {
+  ConfirmationDialog d = ConfirmationDialog(prompt_text, button_text, "", false, parent);
+  return d.exec();
+}
+
+bool FrogPilotConfirmationDialog::yesorno(const QString &prompt_text, QWidget *parent) {
+  ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Yes"), tr("No"), false, parent);
+  return d.exec();
+}
+
+FrogPilotButtonIconControl::FrogPilotButtonIconControl(const QString &title, const QString &text, const QString &desc, const QString &icon, QWidget *parent) : AbstractControl(title, desc, icon, parent) {
+  btn.setText(text);
+  btn.setStyleSheet(R"(
+    QPushButton {
+      padding: 0;
+      border-radius: 50px;
+      font-size: 35px;
+      font-weight: 500;
+      color: #E4E4E4;
+      background-color: #393939;
+    }
+    QPushButton:pressed {
+      background-color: #4a4a4a;
+    }
+    QPushButton:disabled {
+      color: #33E4E4E4;
+    }
+  )");
+  btn.setFixedSize(250, 100);
+  QObject::connect(&btn, &QPushButton::clicked, this, &FrogPilotButtonIconControl::clicked);
+  hlayout->addWidget(&btn);
+}

selfdrive/frogpilot/ui/frogpilot_ui_functions.h

@@ -0,0 +1,697 @@
+#pragma once
+
+#include <cmath>
+
+#include <QTimer>
+
+#include "selfdrive/ui/qt/widgets/controls.h"
+
+class FrogPilotConfirmationDialog : public ConfirmationDialog {
+  Q_OBJECT
+
+public:
+  explicit FrogPilotConfirmationDialog(const QString &prompt_text, const QString &confirm_text,
+                              const QString &cancel_text, const bool rich, QWidget* parent);
+  static bool toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent);
+  static bool toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent);
+  static bool yesorno(const QString &prompt_text, QWidget *parent);
+};
+
+class FrogPilotListWidget : public QWidget {
+  Q_OBJECT
+public:
+  explicit FrogPilotListWidget(QWidget *parent = 0) : QWidget(parent), outer_layout(this) {
+    outer_layout.setMargin(0);
+    outer_layout.setSpacing(0);
+    outer_layout.addLayout(&inner_layout);
+    inner_layout.setMargin(0);
+    inner_layout.setSpacing(25); // default spacing is 25
+    outer_layout.addStretch();
+  }
+  inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
+  inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
+  inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); }
+
+private:
+  void paintEvent(QPaintEvent *) override {
+    QPainter p(this);
+    p.setPen(Qt::gray);
+
+    int visibleWidgetCount = 0;
+    std::vector<QRect> visibleRects;
+
+    for (int i = 0; i < inner_layout.count(); ++i) {
+      QWidget *widget = inner_layout.itemAt(i)->widget();
+      if (widget && widget->isVisible()) {
+        visibleWidgetCount++;
+        visibleRects.push_back(inner_layout.itemAt(i)->geometry());
+      }
+    }
+
+    for (int i = 0; i < visibleWidgetCount - 1; ++i) {
+      int bottom = visibleRects[i].bottom() + inner_layout.spacing() / 2;
+      p.drawLine(visibleRects[i].left() + 40, bottom, visibleRects[i].right() - 40, bottom);
+    }
+  }
+  QVBoxLayout outer_layout;
+  QVBoxLayout inner_layout;
+};
+
+class FrogPilotDualParamControl : public QFrame {
+  Q_OBJECT
+
+public:
+  FrogPilotDualParamControl(ParamControl *control1, ParamControl *control2, QWidget *parent = nullptr, bool split=false)
+    : QFrame(parent) {
+    QHBoxLayout *hlayout = new QHBoxLayout(this);
+
+    control1->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Preferred);
+    control1->setMaximumWidth(split ? 850 : 700);
+
+    control2->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Preferred);
+    control2->setMaximumWidth(split ? 700 : 850);
+
+    hlayout->addWidget(control1);
+    hlayout->addWidget(control2);
+  }
+};
+
+class FrogPilotButtonControl : public AbstractControl {
+  Q_OBJECT
+
+public:
+  FrogPilotButtonControl(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr);
+  inline void setText(const QString &text) { btn.setText(text); }
+  inline QString text() const { return btn.text(); }
+
+signals:
+  void clicked();
+
+public slots:
+  void setEnabled(bool enabled) { btn.setEnabled(enabled); }
+
+private:
+  QPushButton btn;
+};
+
+class FrogPilotButtonIconControl : public AbstractControl {
+  Q_OBJECT
+
+public:
+  FrogPilotButtonIconControl(const QString &title, const QString &text, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
+  inline void setText(const QString &text) { btn.setText(text); }
+  inline QString text() const { return btn.text(); }
+
+signals:
+  void clicked();
+
+public slots:
+  void setEnabled(bool enabled) { btn.setEnabled(enabled); }
+
+private:
+  QPushButton btn;
+};
+
+class FrogPilotButtonParamControl : public ParamControl {
+  Q_OBJECT
+public:
+  FrogPilotButtonParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                              const std::vector<QString> &button_texts, const int minimum_button_width = 225)
+    : ParamControl(param, title, desc, icon) {
+    const QString style = R"(
+      QPushButton {
+        border-radius: 50px;
+        font-size: 40px;
+        font-weight: 500;
+        height:100px;
+        padding: 0 25 0 25;
+        color: #E4E4E4;
+        background-color: #393939;
+      }
+      QPushButton:pressed {
+        background-color: #4a4a4a;
+      }
+      QPushButton:checked:enabled {
+        background-color: #33Ab4C;
+      }
+      QPushButton:disabled {
+        color: #33E4E4E4;
+      }
+    )";
+
+    key = param.toStdString();
+    int value = atoi(params.get(key).c_str());
+
+    button_group = new QButtonGroup(this);
+    button_group->setExclusive(true);
+    for (size_t i = 0; i < button_texts.size(); i++) {
+      QPushButton *button = new QPushButton(button_texts[i], this);
+      button->setCheckable(true);
+      button->setChecked(i == value);
+      button->setStyleSheet(style);
+      button->setMinimumWidth(minimum_button_width);
+      hlayout->addWidget(button);
+      button_group->addButton(button, i);
+    }
+
+    QObject::connect(button_group, QOverload<int, bool>::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) {
+      if (checked) {
+        params.put(key, std::to_string(id));
+        refresh();
+        emit buttonClicked(id);
+      }
+    });
+
+    toggle.hide();
+  }
+
+  void setEnabled(bool enable) {
+    for (auto btn : button_group->buttons()) {
+      btn->setEnabled(enable);
+    }
+  }
+
+signals:
+  void buttonClicked(int id);
+
+private:
+  std::string key;
+  Params params;
+  QButtonGroup *button_group;
+};
+
+class FrogPilotButtonsParamControl : public ParamControl {
+  Q_OBJECT
+public:
+  FrogPilotButtonsParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                               const std::vector<std::pair<QString, QString>> &button_params)
+    : ParamControl(param, title, desc, icon) {
+    const QString style = R"(
+      QPushButton {
+        border-radius: 50px;
+        font-size: 40px;
+        font-weight: 500;
+        height:100px;
+        padding: 0 25 0 25;
+        color: #E4E4E4;
+        background-color: #393939;
+      }
+      QPushButton:pressed {
+        background-color: #4a4a4a;
+      }
+      QPushButton:checked:enabled {
+        background-color: #33Ab4C;
+      }
+      QPushButton:disabled {
+        color: #33E4E4E4;
+      }
+    )";
+
+    button_group = new QButtonGroup(this);
+    button_group->setExclusive(true);
+
+    for (const auto &param_pair : button_params) {
+      const QString &param_toggle = param_pair.first;
+      const QString &button_text = param_pair.second;
+
+      QPushButton *button = new QPushButton(button_text, this);
+      button->setCheckable(true);
+
+      bool value = params.getBool(param_toggle.toStdString());
+      button->setChecked(value);
+      button->setStyleSheet(style);
+      button->setMinimumWidth(225);
+      hlayout->addWidget(button);
+
+      QObject::connect(button, &QPushButton::toggled, this, [=](bool checked) {
+        if (checked) {
+          for (const auto &inner_param_pair : button_params) {
+            const QString &inner_param = inner_param_pair.first;
+            params.putBool(inner_param.toStdString(), inner_param == param_toggle);
+          }
+          refresh();
+          emit buttonClicked();
+        }
+      });
+
+      button_group->addButton(button);
+    }
+
+    toggle.hide();
+  }
+
+  void setEnabled(bool enable) {
+    for (auto btn : button_group->buttons()) {
+      btn->setEnabled(enable);
+    }
+  }
+
+signals:
+  void buttonClicked();
+
+private:
+  Params params;
+  QButtonGroup *button_group;
+};
+
+class FrogPilotParamManageControl : public ParamControl {
+  Q_OBJECT
+
+public:
+  FrogPilotParamManageControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr, bool hideToggle = false)
+    : ParamControl(param, title, desc, icon, parent),
+      hideToggle(hideToggle),
+      key(param.toStdString()),
+      manageButton(new ButtonControl(tr(""), tr("MANAGE"), tr(""))) {
+    hlayout->insertWidget(hlayout->indexOf(&toggle) - 1, manageButton);
+
+    connect(this, &ToggleControl::toggleFlipped, this, [this](bool state) {
+      refresh();
+    });
+
+    connect(manageButton, &ButtonControl::clicked, this, &FrogPilotParamManageControl::manageButtonClicked);
+
+    if (hideToggle) {
+      toggle.hide();
+    }
+  }
+
+  void refresh() {
+    ParamControl::refresh();
+    manageButton->setVisible(params.getBool(key) || hideToggle);
+  }
+
+  void showEvent(QShowEvent *event) override {
+    ParamControl::showEvent(event);
+    refresh();
+  }
+
+signals:
+  void manageButtonClicked();
+
+private:
+  bool hideToggle;
+  std::string key;
+  Params params;
+  ButtonControl *manageButton;
+};
+
+class FrogPilotParamToggleControl : public ParamControl {
+  Q_OBJECT
+public:
+  FrogPilotParamToggleControl(const QString &param, const QString &title, const QString &desc,
+                              const QString &icon, const std::vector<QString> &button_params,
+                              const std::vector<QString> &button_texts, QWidget *parent = nullptr,
+                              const int minimum_button_width = 225)
+    : ParamControl(param, title, desc, icon, parent) {
+
+    key = param.toStdString();
+
+    connect(this, &ToggleControl::toggleFlipped, this, [this](bool state) {
+      refreshButtons(state);
+    });
+
+    const QString style = R"(
+      QPushButton {
+        border-radius: 50px;
+        font-size: 40px;
+        font-weight: 500;
+        height:100px;
+        padding: 0 25 0 25;
+        color: #E4E4E4;
+        background-color: #393939;
+      }
+      QPushButton:pressed {
+        background-color: #4a4a4a;
+      }
+      QPushButton:checked:enabled {
+        background-color: #33Ab4C;
+      }
+      QPushButton:disabled {
+        color: #33E4E4E4;
+      }
+    )";
+
+    button_group = new QButtonGroup(this);
+    button_group->setExclusive(false);
+    this->button_params = button_params;
+
+    for (int i = 0; i < button_texts.size(); ++i) {
+      QPushButton *button = new QPushButton(button_texts[i], this);
+      button->setCheckable(true);
+      button->setStyleSheet(style);
+      button->setMinimumWidth(minimum_button_width);
+      button_group->addButton(button, i);
+
+      connect(button, &QPushButton::clicked, [this, i](bool checked) {
+        params.putBool(this->button_params[i].toStdString(), checked);
+        button_group->button(i)->setChecked(checked);
+        emit buttonClicked(checked);
+      });
+
+      hlayout->insertWidget(hlayout->indexOf(&toggle) - 1, button);
+    }
+  }
+
+  void refresh() {
+    bool state = params.getBool(key);
+    if (state != toggle.on) {
+      toggle.togglePosition();
+    }
+
+    refreshButtons(state);
+    updateButtonStates();
+  }
+
+  void refreshButtons(bool state) {
+    for (QAbstractButton *button : button_group->buttons()) {
+      button->setVisible(state);
+    }
+  }
+
+  void updateButtonStates() {
+    for (int i = 0; i < button_group->buttons().size(); ++i) {
+      bool checked = params.getBool(button_params[i].toStdString());
+      QAbstractButton *button = button_group->button(i);
+      if (button) {
+        button->setChecked(checked);
+      }
+    }
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+    QWidget::showEvent(event);
+  }
+
+signals:
+  void buttonClicked(const bool checked);
+
+private:
+  std::string key;
+  Params params;
+  QButtonGroup *button_group;
+  std::vector<QString> button_params;
+};
+
+class FrogPilotParamValueControl : public ParamControl {
+  Q_OBJECT
+
+public:
+  FrogPilotParamValueControl(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, const float &intervals = 1.0f)
+      : ParamControl(param, title, desc, icon, parent),
+        minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label),
+        division(division), previousValue(0.0f), value(0.0f) {
+    key = param.toStdString();
+
+    valueLabel = new QLabel(this);
+    hlayout->addWidget(valueLabel);
+
+    QPushButton *decrementButton = createButton("-", this);
+    QPushButton *incrementButton = createButton("+", this);
+
+    hlayout->addWidget(decrementButton);
+    hlayout->addWidget(incrementButton);
+
+    countdownTimer = new QTimer(this);
+    countdownTimer->setInterval(150);
+    countdownTimer->setSingleShot(true);
+
+    connect(countdownTimer, &QTimer::timeout, this, &FrogPilotParamValueControl::handleTimeout);
+
+    connect(decrementButton, &QPushButton::pressed, this, [=]() { updateValue(-intervals); });
+    connect(incrementButton, &QPushButton::pressed, this, [=]() { updateValue(intervals); });
+
+    connect(decrementButton, &QPushButton::released, this, &FrogPilotParamValueControl::restartTimer);
+    connect(incrementButton, &QPushButton::released, this, &FrogPilotParamValueControl::restartTimer);
+
+    toggle.hide();
+  }
+
+  void restartTimer() {
+    countdownTimer->stop();
+    countdownTimer->start();
+  }
+
+  void handleTimeout() {
+    previousValue = value;
+  }
+
+  void updateValue(float increment) {
+    if (std::fabs(previousValue - value) > 5.0f && std::fmod(value, 5.0f) == 0.0f) {
+      increment *= 5;
+    }
+    value += increment;
+
+    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 valueChanged(value);
+  }
+
+  void refresh() {
+    value = params.getFloat(key);
+
+    QString text;
+    auto it = valueLabelMappings.find(value);
+
+    if (division > 1.0f) {
+      text = QString::number(value / division, 'g', division >= 10.0f ? 4 : 3);
+    } else {
+      if (it != valueLabelMappings.end()) {
+        text = it->second;
+      } else {
+        text = QString::number(value, 'g', 4);
+      }
+    }
+
+    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();
+    previousValue = value;
+  }
+
+signals:
+  void valueChanged(float value);
+
+private:
+  bool loop;
+  float division;
+  float maxValue;
+  float minValue;
+  float previousValue;
+  float value;
+  QLabel *valueLabel;
+  QString labelText;
+  std::map<int, QString> valueLabelMappings;
+  std::string key;
+  Params params;
+  QTimer *countdownTimer;
+
+  QPushButton *createButton(const QString &text, QWidget *parent) {
+    QPushButton *button = new QPushButton(text, parent);
+    button->setFixedSize(150, 100);
+    button->setAutoRepeat(true);
+    button->setAutoRepeatInterval(150);
+    button->setAutoRepeatDelay(500);
+    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 FrogPilotParamValueToggleControl : public ParamControl {
+  Q_OBJECT
+
+public:
+  FrogPilotParamValueToggleControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                          const int &minValue, const int &maxValue, const std::map<int, QString> &valueLabels,
+                          QWidget *parent = nullptr, const bool &loop = true, const QString &label = "", const int &division = 1,
+                          const std::vector<QString> &button_params = std::vector<QString>(), const std::vector<QString> &button_texts = std::vector<QString>(),
+                          const int minimum_button_width = 225)
+    : ParamControl(param, title, desc, icon, parent),
+      minValue(minValue), maxValue(maxValue), valueLabelMappings(valueLabels), loop(loop), labelText(label), division(division) {
+        key = param.toStdString();
+
+        const QString style = R"(
+          QPushButton {
+            border-radius: 50px;
+            font-size: 40px;
+            font-weight: 500;
+            height:100px;
+            padding: 0 25 0 25;
+            color: #E4E4E4;
+            background-color: #393939;
+          }
+          QPushButton:pressed {
+            background-color: #4a4a4a;
+          }
+          QPushButton:checked:enabled {
+            background-color: #33Ab4C;
+          }
+          QPushButton:disabled {
+            color: #33E4E4E4;
+          }
+        )";
+
+        button_group = new QButtonGroup(this);
+        button_group->setExclusive(false);
+
+        std::map<QString, bool> paramState;
+        for (const QString &button_param : button_params) {
+          paramState[button_param] = params.getBool(button_param.toStdString());
+        }
+
+        for (int i = 0; i < button_texts.size(); ++i) {
+          QPushButton *button = new QPushButton(button_texts[i], this);
+          button->setCheckable(true);
+          button->setChecked(paramState[button_params[i]]);
+          button->setStyleSheet(style);
+          button->setMinimumWidth(minimum_button_width);
+          button_group->addButton(button, i);
+
+          connect(button, &QPushButton::clicked, [this, button_params, i](bool checked) {
+            params.putBool(button_params[i].toStdString(), checked);
+            button_group->button(i)->setChecked(checked);
+          });
+
+          hlayout->addWidget(button);
+        }
+
+        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);
+        });
+
+        connect(incrementButton, &QPushButton::clicked, this, [=]() {
+          updateValue(1);
+        });
+
+        toggle.hide();
+      }
+
+  void updateValue(int increment) {
+    value = value + increment;
+
+    if (loop) {
+      if (value < minValue) value = maxValue;
+      else if (value > maxValue) value = minValue;
+    } else {
+      value = std::max(minValue, std::min(maxValue, value));
+    }
+
+    params.putInt(key, value);
+    refresh();
+    emit valueChanged(value);
+  }
+
+  void refresh() {
+    value = params.getInt(key);
+
+    QString text;
+    auto it = valueLabelMappings.find(value);
+    if (division > 1) {
+      text = QString::number(value / (division * 1.0), 'g');
+    } else {
+      text = it != valueLabelMappings.end() ? it->second : QString::number(value);
+    }
+    if (!labelText.isEmpty()) {
+      text += labelText;
+    }
+    valueLabel->setText(text);
+    valueLabel->setStyleSheet("QLabel { color: #E0E879; }");
+  }
+
+  void updateControl(int newMinValue, int newMaxValue, const QString &newLabel, int newDivision) {
+    minValue = newMinValue;
+    maxValue = newMaxValue;
+    labelText = newLabel;
+    division = newDivision;
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
+signals:
+  void valueChanged(int value);
+
+private:
+  bool loop;
+  int division;
+  int maxValue;
+  int minValue;
+  int value;
+  QButtonGroup *button_group;
+  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->setAutoRepeatDelay(350);
+    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;
+  }
+};

selfdrive/frogpilot/ui/vehicle_settings.cc

@@ -0,0 +1,88 @@
+#include "selfdrive/frogpilot/ui/vehicle_settings.h"
+
+FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
+  std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
+    {"LongitudinalTune", "Longitudinal Tune", "Use a custom Toyota longitudinal tune.\n\nCydia = More focused on TSS-P vehicles but works for all Toyotas\n\nDragonPilot = Focused on TSS2 vehicles\n\nFrogPilot = Takes the best of both worlds with some personal tweaks focused around my 2019 Lexus ES 350", ""},
+  };
+
+  for (const auto &[param, title, desc, icon] : vehicleToggles) {
+    ParamControl *toggle;
+
+    if (param == "LongitudinalTune") {
+      std::vector<std::pair<QString, QString>> tuneOptions{
+        {"StockTune", tr("Stock")},
+      };
+      toggle = new FrogPilotButtonsParamControl(param, title, desc, icon, tuneOptions);
+
+      QObject::connect(static_cast<FrogPilotButtonsParamControl*>(toggle), &FrogPilotButtonsParamControl::buttonClicked, [this]() {
+        if (started) {
+          if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
+            Hardware::soft_reboot();
+          }
+        }
+      });
+
+    } else {
+      toggle = new ParamControl(param, title, desc, icon, this);
+    }
+
+    toggle->setVisible(false);
+    addItem(toggle);
+    toggles[param.toStdString()] = toggle;
+
+    QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
+      updateToggles();
+    });
+
+    QObject::connect(toggle, &AbstractControl::showDescriptionEvent, [this]() {
+      update();
+    });
+  }
+
+  std::set<std::string> rebootKeys = {};
+  for (const std::string &key : rebootKeys) {
+    QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
+      if (started) {
+        if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
+          Hardware::soft_reboot();
+        }
+      }
+    });
+  }
+
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotVehiclesPanel::updateState);
+}
+
+void FrogPilotVehiclesPanel::updateState(const UIState &s) {
+  started = s.scene.started;
+}
+
+void FrogPilotVehiclesPanel::updateToggles() {
+  std::thread([this]() {
+    paramsMemory.putBool("FrogPilotTogglesUpdated", true);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+    paramsMemory.putBool("FrogPilotTogglesUpdated", false);
+  }).detach();
+}
+
+void FrogPilotVehiclesPanel::setToggles() {
+  bool gm = false;
+  bool subaru false;
+  bool toyota = false;
+
+  for (auto &[key, toggle] : toggles) {
+    if (toggle) {
+      toggle->setVisible(false);
+
+      if (gm) {
+        toggle->setVisible(gmKeys.find(key.c_str()) != gmKeys.end());
+      } else if (subaru) {
+        toggle->setVisible(subaruKeys.find(key.c_str()) != subaruKeys.end());
+      } else if (toyota) {
+        toggle->setVisible(toyotaKeys.find(key.c_str()) != toyotaKeys.end());
+      }
+    }
+  }
+
+  update();
+}

selfdrive/frogpilot/ui/vehicle_settings.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <set>
+
+#include <QStringList>
+
+#include "selfdrive/frogpilot/ui/frogpilot_ui_functions.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+#include "selfdrive/ui/ui.h"
+
+class FrogPilotVehiclesPanel : public FrogPilotListWidget {
+  Q_OBJECT
+
+public:
+  explicit FrogPilotVehiclesPanel(SettingsWindow *parent);
+
+private:
+  void setToggles();
+  void updateState(const UIState &s);
+  void updateToggles();
+
+  std::map<std::string, ParamControl*> toggles;
+
+  std::set<QString> gmKeys = {};
+  std::set<QString> subaruKeys = {};
+  std::set<QString> toyotaKeys = {"LongitudinalTune"};
+
+  Params params;
+  Params paramsMemory{"/dev/shm/params"};
+
+  bool started = false;
+};

selfdrive/frogpilot/ui/visual_settings.cc

@@ -0,0 +1,153 @@
+#include "selfdrive/frogpilot/ui/visual_settings.h"
+
+FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
+  const std::vector<std::tuple<QString, QString, QString, QString>> visualToggles {
+    {"CustomAlerts", "Custom Alerts", "Enable custom alerts for various logic or situational changes.", "../frogpilot/assets/toggle_icons/icon_green_light.png"},
+
+    {"CustomUI", "Custom Onroad UI", "Customize the Onroad UI with some additional visual functions.", "../assets/offroad/icon_road.png"},
+
+    {"QOLVisuals", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
+  };
+
+  for (const auto &[param, title, desc, icon] : visualToggles) {
+    ParamControl *toggle;
+
+    if (param == "CustomAlerts") {
+      FrogPilotParamManageControl *customAlertsToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(customAlertsToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(customAlertsKeys .find(key.c_str()) != customAlertsKeys .end());
+        }
+      });
+      toggle = customAlertsToggle;
+
+    } else if (param == "CustomUI") {
+      FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(customOnroadUIKeys.find(key.c_str()) != customOnroadUIKeys.end());
+        }
+      });
+      toggle = customUIToggle;
+
+    } else if (param == "QOLVisuals") {
+      FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        parentToggleClicked();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(qolKeys.find(key.c_str()) != qolKeys.end());
+        }
+      });
+      toggle = qolToggle;
+
+    } else {
+      toggle = new ParamControl(param, title, desc, icon, this);
+    }
+
+    addItem(toggle);
+    toggles[param.toStdString()] = toggle;
+
+    QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
+      updateToggles();
+    });
+
+    QObject::connect(static_cast<FrogPilotParamValueControl*>(toggle), &FrogPilotParamValueControl::valueChanged, [this]() {
+      updateToggles();
+    });
+
+    QObject::connect(toggle, &AbstractControl::showDescriptionEvent, [this]() {
+      update();
+    });
+
+    QObject::connect(static_cast<FrogPilotParamManageControl*>(toggle), &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+      update();
+    });
+  }
+
+  std::set<std::string> rebootKeys = {""};
+  for (const std::string &key : rebootKeys) {
+    QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this, key]() {
+      if (started) {
+        if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
+          Hardware::soft_reboot();
+        }
+      }
+    });
+  }
+
+  QObject::connect(device(), &Device::interactiveTimeout, this, &FrogPilotVisualsPanel::hideSubToggles);
+  QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotVisualsPanel::hideSubToggles);
+  QObject::connect(parent, &SettingsWindow::closeSubParentToggle, this, &FrogPilotVisualsPanel::hideSubSubToggles);
+  QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotVisualsPanel::updateMetric);
+
+  hideSubToggles();
+  updateMetric();
+
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotVisualsPanel::updateState);
+}
+
+void FrogPilotVisualsPanel::updateState(const UIState &s) {
+  started = s.scene.started;
+}
+
+void FrogPilotVisualsPanel::updateToggles() {
+  std::thread([this]() {
+    paramsMemory.putBool("FrogPilotTogglesUpdated", true);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+    paramsMemory.putBool("FrogPilotTogglesUpdated", false);
+  }).detach();
+}
+
+void FrogPilotVisualsPanel::updateMetric() {
+  bool previousIsMetric = isMetric;
+  isMetric = params.getBool("IsMetric");
+
+  if (isMetric != previousIsMetric) {
+    double distanceConversion = isMetric ? INCH_TO_CM : CM_TO_INCH;
+    double speedConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
+  }
+
+  if (isMetric) {
+  } else {
+  }
+
+  previousIsMetric = isMetric;
+}
+
+void FrogPilotVisualsPanel::parentToggleClicked() {
+  openParentToggle();
+}
+
+void FrogPilotVisualsPanel::subParentToggleClicked() {
+  openSubParentToggle();
+}
+
+void FrogPilotVisualsPanel::hideSubToggles() {
+  for (auto &[key, toggle] : toggles) {
+    bool subToggles = alertVolumeControlKeys.find(key.c_str()) != alertVolumeControlKeys.end() ||
+                      customAlertsKeys.find(key.c_str()) != customAlertsKeys.end() ||
+                      customOnroadUIKeys.find(key.c_str()) != customOnroadUIKeys.end() ||
+                      customThemeKeys.find(key.c_str()) != customThemeKeys.end() ||
+                      modelUIKeys.find(key.c_str()) != modelUIKeys.end() ||
+                      qolKeys.find(key.c_str()) != qolKeys.end();
+    toggle->setVisible(!subToggles);
+  }
+
+  closeParentToggle();
+}
+
+void FrogPilotVisualsPanel::hideSubSubToggles() {
+  for (auto &[key, toggle] : toggles) {
+    bool isVisible = false;
+    toggle->setVisible(isVisible);
+  }
+
+  closeSubParentToggle();
+  update();
+}
+
+void FrogPilotVisualsPanel::hideEvent(QHideEvent *event) {
+  hideSubToggles();
+}

selfdrive/frogpilot/ui/visual_settings.h

@@ -0,0 +1,45 @@
+#pragma once
+
+#include <set>
+
+#include "selfdrive/frogpilot/ui/frogpilot_ui_functions.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+#include "selfdrive/ui/ui.h"
+
+class FrogPilotVisualsPanel : public FrogPilotListWidget {
+  Q_OBJECT
+
+public:
+  explicit FrogPilotVisualsPanel(SettingsWindow *parent);
+
+signals:
+  void closeParentToggle();
+  void closeSubParentToggle();
+  void openParentToggle();
+  void openSubParentToggle();
+
+private:
+  void hideEvent(QHideEvent *event);
+  void hideSubToggles();
+  void hideSubSubToggles();
+  void parentToggleClicked();
+  void subParentToggleClicked();
+  void updateMetric();
+  void updateState(const UIState &s);
+  void updateToggles();
+
+  std::set<QString> alertVolumeControlKeys = {};
+  std::set<QString> customAlertsKeys = {};
+  std::set<QString> customOnroadUIKeys = {};
+  std::set<QString> customThemeKeys = {};
+  std::set<QString> modelUIKeys = {};
+  std::set<QString> qolKeys = {};
+
+  std::map<std::string, ParamControl*> toggles;
+
+  Params params;
+  Params paramsMemory{"/dev/shm/params"};
+
+  bool isMetric = params.getBool("IsMetric");
+  bool started = false;
+};

selfdrive/manager/manager.py

@@ -2,6 +2,7 @@
 import datetime
 import os
 import signal
+import subprocess
 import sys
 import traceback
 from typing import List, Tuple, Union
@@ -27,12 +28,38 @@ def manager_init() -> None:
   save_bootlog()
 
   params = Params()
+  params_storage = Params("/persist/comma/params")
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
   params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
   if is_release_branch():
     params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
 
+  ############### Remove this after the April 26th update ###############
+
+  previous_speed_limit = params.get_float("PreviousSpeedLimit")
+  if previous_speed_limit >= 50:
+    params.put_float("PreviousSpeedLimit", previous_speed_limit / 100)
+
+  for priority_key in ["SLCPriority", "SLCPriority1", "SLCPriority2", "SLCPriority3"]:
+    priority_value = params.get(priority_key)
+    if isinstance(priority_value, int):
+      params.remove(priority_key)
+
+  attributes = ["AggressiveFollow", "StandardFollow", "RelaxedFollow", "AggressiveJerk", "StandardJerk", "RelaxedJerk"]
+  values = {attr: params.get_float(attr) for attr in attributes}
+  if any(value > 5 for value in values.values()):
+    for attr, value in values.items():
+      params.put_float(attr, value / 10)
+
+  if params.get_bool("SilentMode"):
+    attributes = ["DisengageVolume", "EngageVolume", "PromptVolume", "PromptDistractedVolume", "RefuseVolume", "WarningSoftVolume", "WarningImmediateVolume"]
+    for attr in attributes:
+      params.put_float(attr, 0)
+    params.put_bool("SilentMode", False)
+
+  #######################################################################
+
   default_params: List[Tuple[str, Union[str, bytes]]] = [
     ("CompletedTrainingVersion", "0"),
     ("DisengageOnAccelerator", "0"),
@@ -41,6 +68,161 @@ def manager_init() -> None:
     ("LanguageSetting", "main_en"),
     ("OpenpilotEnabledToggle", "1"),
     ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
+
+    # Default FrogPilot parameters
+    ("AccelerationPath", "1"),
+    ("AccelerationProfile", "2"),
+    ("AdjacentPath", "0"),
+    ("AdjacentPathMetrics", "0"),
+    ("AdjustablePersonalities", "1"),
+    ("AggressiveAcceleration", "1"),
+    ("AggressiveFollow", "1.25"),
+    ("AggressiveJerk", "0.5"),
+    ("AlertVolumeControl", "0"),
+    ("AlwaysOnLateral", "1"),
+    ("AlwaysOnLateralMain", "0"),
+    ("BlindSpotPath", "1"),
+    ("CameraView", "0"),
+    ("CECurves", "1"),
+    ("CENavigation", "1"),
+    ("CENavigationIntersections", "1"),
+    ("CENavigationLead", "1"),
+    ("CENavigationTurns", "1"),
+    ("CESignal", "1"),
+    ("CESlowerLead", "0"),
+    ("CESpeed", "0"),
+    ("CESpeedLead", "0"),
+    ("CEStopLights", "1"),
+    ("CEStopLightsLead", "1"),
+    ("Compass", "0"),
+    ("ConditionalExperimental", "1"),
+    ("CrosstrekTorque", "0"),
+    ("CurveSensitivity", "100"),
+    ("CustomAlerts", "0"),
+    ("CustomColors", "1"),
+    ("CustomIcons", "1"),
+    ("CustomPersonalities", "1"),
+    ("CustomSignals", "1"),
+    ("CustomSounds", "1"),
+    ("CustomTheme", "1"),
+    ("CustomUI", "1"),
+    ("CydiaTune", "1"),
+    ("DecelerationProfile", "1"),
+    ("DeviceShutdown", "9"),
+    ("DisableMTSCSmoothing", "0"),
+    ("DisableVTSCSmoothing", "0"),
+    ("DisengageVolume", "100"),
+    ("DragonPilotTune", "0"),
+    ("DriverCamera", "0"),
+    ("DriveStats", "1"),
+    ("DynamicPathWidth", "0"),
+    ("EngageVolume", "100"),
+    ("EVTable", "1"),
+    ("ExperimentalModeActivation", "1"),
+    ("ExperimentalModeViaLKAS", "0"),
+    ("ExperimentalModeViaScreen", "1"),
+    ("Fahrenheit", "0"),
+    ("FireTheBabysitter", "0"),
+    ("ForceAutoTune", "0"),
+    ("ForceMPHDashboard", "0"),
+    ("FPSCounter", "0"),
+    ("FrogPilotDrives", "0"),
+    ("FrogPilotKilometers", "0"),
+    ("FrogPilotMinutes", "0"),
+    ("FrogsGoMooTune", "0"),
+    ("FullMap", "0"),
+    ("GasRegenCmd", "0"),
+    ("GoatScream", "1"),
+    ("GreenLightAlert", "0"),
+    ("HideSpeed", "0"),
+    ("HideSpeedUI", "0"),
+    ("HigherBitrate", "0"),
+    ("LaneChangeTime", "0"),
+    ("LaneDetection", "1"),
+    ("LaneDetectionWidth", "60"),
+    ("LaneLinesWidth", "4"),
+    ("LateralTune", "1"),
+    ("LeadDepartingAlert", "0"),
+    ("LeadInfo", "0"),
+    ("LockDoors", "0"),
+    ("LongitudinalTune", "1"),
+    ("LongPitch", "1"),
+    ("LoudBlindspotAlert", "0"),
+    ("LowerVolt", "1"),
+    ("MapStyle", "0"),
+    ("MTSCAggressiveness", "100"),
+    ("MTSCCurvatureCheck", "0"),
+    ("MTSCLimit", "0"),
+    ("Model", DEFAULT_MODEL),
+    ("ModelUI", "1"),
+    ("MTSCEnabled", "1"),
+    ("MuteOverheated", "0"),
+    ("NNFF", "1"),
+    ("NoLogging", "0"),
+    ("NoUploads", "0"),
+    ("NudgelessLaneChange", "1"),
+    ("NumericalTemp", "0"),
+    ("Offset1", "5"),
+    ("Offset2", "5"),
+    ("Offset3", "5"),
+    ("Offset4", "10"),
+    ("OneLaneChange", "1"),
+    ("PathEdgeWidth", "20"),
+    ("PathWidth", "61"),
+    ("PauseLateralOnSignal", "0"),
+    ("PedalsOnUI", "1"),
+    ("PersonalitiesViaScreen", "1"),
+    ("PersonalitiesViaWheel", "1"),
+    ("PreferredSchedule", "0"),
+    ("PromptVolume", "100"),
+    ("PromptDistractedVolume", "100"),
+    ("QOLControls", "1"),
+    ("QOLVisuals", "1"),
+    ("RandomEvents", "0"),
+    ("RefuseVolume", "100"),
+    ("RelaxedFollow", "1.75"),
+    ("RelaxedJerk", "1.0"),
+    ("ReverseCruise", "0"),
+    ("ReverseCruiseUI", "1"),
+    ("RoadEdgesWidth", "2"),
+    ("RoadNameUI", "1"),
+    ("RotatingWheel", "1"),
+    ("ScreenBrightness", "101"),
+    ("SearchInput", "0"),
+    ("SetSpeedLimit", "0"),
+    ("SetSpeedOffset", "0"),
+    ("ShowCPU", "0"),
+    ("ShowGPU", "0"),
+    ("ShowIP", "0"),
+    ("ShowMemoryUsage", "0"),
+    ("Sidebar", "0"),
+    ("SLCConfirmation", "1"),
+    ("SLCConfirmationLower", "1"),
+    ("SLCConfirmationHigher", "0"),
+    ("SLCFallback", "2"),
+    ("SLCOverride", "1"),
+    ("SLCPriority1", "Dashboard"),
+    ("SLCPriority2", "Offline Maps"),
+    ("SLCPriority3", "Navigation"),
+    ("SmoothBraking", "1"),
+    ("SNGHack", "1"),
+    ("SpeedLimitChangedAlert", "0"),
+    ("SpeedLimitController", "1"),
+    ("StandardFollow", "1.45"),
+    ("StandardJerk", "1.0"),
+    ("StoppingDistance", "0"),
+    ("StorageParamsSet", "0"),
+    ("TurnAggressiveness", "100"),
+    ("TurnDesires", "0"),
+    ("UnlimitedLength", "1"),
+    ("UseLateralJerk", "0"),
+    ("UseSI", "0"),
+    ("UseVienna", "0"),
+    ("VisionTurnControl", "1"),
+    ("WarningSoftVolume", "100"),
+    ("WarningImmediateVolume", "100"),
+    ("WheelIcon", "3"),
+    ("WheelSpeed", "0")
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
@@ -51,7 +233,14 @@ def manager_init() -> None:
   # set unset params
   for k, v in default_params:
     if params.get(k) is None:
-      params.put(k, v)
+      if params_storage.get(k) is None:
+        params.put(k, v)
+      else:
+        params.put(k, params_storage.get(k))
+    elif not params.get_bool("StorageParamsSet"):
+      params_storage.put(k, params.get(k))
+
+  params.put_bool("StorageParamsSet", True)
 
   # Create folders needed for msgq
   try:
@@ -114,12 +303,21 @@ def manager_cleanup() -> None:
   cloudlog.info("everything is dead")
 
 
+def update_frogpilot_params(params, params_memory):
+  keys = []
+  for key in keys:
+    params_memory.put_bool(key, params.get_bool(key))
+
 def manager_thread() -> None:
   cloudlog.bind(daemon="manager")
   cloudlog.info("manager start")
   cloudlog.info({"environ": os.environ})
 
   params = Params()
+  params_memory = Params("/dev/shm/params")
+  params_storage = Params("/persist/comma/params")
+
+  update_frogpilot_params(params, params_memory)
 
   ignore: List[str] = []
   if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID):
@@ -132,7 +330,7 @@ def manager_thread() -> None:
   pm = messaging.PubMaster(['managerState'])
 
   write_onroad_params(False, params)
-  ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
+  ensure_running(managed_processes.values(), False, params=params, params_memory=params_memory, CP=sm['carParams'], not_run=ignore)
 
   started_prev = False
 
@@ -152,7 +350,7 @@ def manager_thread() -> None:
 
     started_prev = started
 
-    ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
+    ensure_running(managed_processes.values(), started, params=params, params_memory=params_memory, CP=sm['carParams'], not_run=ignore)
 
     running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
                        for p in managed_processes.values() if p.proc)
@@ -175,8 +373,17 @@ def manager_thread() -> None:
     if shutdown:
       break
 
+    if params_memory.get_bool("FrogPilotTogglesUpdated"):
+      update_frogpilot_params(params, params_memory)
 
 def main() -> None:
+  # Create the long term param storage folder
+  try:
+    subprocess.run(['sudo', 'mount', '-o', 'remount,rw', '/persist'], check=True)
+    print("Successfully remounted /persist as read-write.")
+  except subprocess.CalledProcessError as e:
+    print(f"Failed to remount /persist. Error: {e}")
+
   manager_init()
   if os.getenv("PREPAREONLY") is not None:
     return

selfdrive/manager/process.py

@@ -238,7 +238,7 @@ class DaemonProcess(ManagerProcess):
     self.params = None
 
   @staticmethod
-  def should_run(started, params, CP):
+  def should_run(started, params, params_memory, CP):
     return True
 
   def prepare(self) -> None:
@@ -273,14 +273,14 @@ class DaemonProcess(ManagerProcess):
     pass
 
 
-def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
+def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, params_memory=None, CP: car.CarParams=None,
                    not_run: Optional[List[str]]=None) -> List[ManagerProcess]:
   if not_run is None:
     not_run = []
 
   running = []
   for p in procs:
-    if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
+    if p.enabled and p.name not in not_run and p.should_run(started, params, params_memory, CP):
       running.append(p)
     else:
       p.stop(block=False)

selfdrive/manager/process_config.py

@@ -7,40 +7,42 @@ from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, Da
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 
-def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
+def driverview(started: bool, params: Params, params_memory: Params, CP: car.CarParams) -> bool:
   return started or params.get_bool("IsDriverViewEnabled")
 
-def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
+def notcar(started: bool, params: Params, params_memory: Params, CP: car.CarParams) -> bool:
   return started and CP.notCar
 
-def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
+def iscar(started: bool, params: Params, params_memory: Params, CP: car.CarParams) -> bool:
   return started and not CP.notCar
 
-def logging(started, params, CP: car.CarParams) -> bool:
+def logging(started, params, params_memory, CP: car.CarParams) -> bool:
   run = (not CP.notCar) or not params.get_bool("DisableLogging")
   return started and run
 
 def ublox_available() -> bool:
   return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
 
-def ublox(started, params, CP: car.CarParams) -> bool:
+def ublox(started, params, params_memory, CP: car.CarParams) -> bool:
   use_ublox = ublox_available()
   if use_ublox != params.get_bool("UbloxAvailable"):
     params.put_bool("UbloxAvailable", use_ublox)
   return started and use_ublox
 
-def qcomgps(started, params, CP: car.CarParams) -> bool:
+def qcomgps(started, params, params_memory, CP: car.CarParams) -> bool:
   return started and not ublox_available()
 
-def always_run(started, params, CP: car.CarParams) -> bool:
+def always_run(started, params, params_memory, CP: car.CarParams) -> bool:
   return True
 
-def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
+def only_onroad(started: bool, params, params_memory, CP: car.CarParams) -> bool:
   return started
 
-def only_offroad(started, params, CP: car.CarParams) -> bool:
+def only_offroad(started, params, params_memory, CP: car.CarParams) -> bool:
   return not started
 
+# FrogPilot functions
+
 procs = [
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
 
@@ -86,6 +88,8 @@ procs = [
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
   PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
   PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
+
+  # FrogPilot processes
 ]
 
 managed_processes = {p.name: p for p in procs}

selfdrive/modeld/modeld.py

@@ -154,7 +154,7 @@ def main(demo=False):
 
   # messaging
   pm = PubMaster(["modelV2", "cameraOdometry"])
-  sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"])
+  sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl", "frogpilotPlan"])
 
   publish_state = PublishState()
   params = Params()
@@ -298,7 +298,7 @@ def main(demo=False):
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['frogpilotPlan'])
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
 

selfdrive/navd/navd.py

@@ -28,6 +28,7 @@ class RouteEngine:
     self.pm = pm
 
     self.params = Params()
+    self.params_memory = Params("/dev/shm/params")
 
     # Get last gps position from params
     self.last_position = coordinate_from_param("LastGPSPosition", self.params)
@@ -59,7 +60,14 @@ class RouteEngine:
         self.mapbox_token = ""
       self.mapbox_host = "https://maps.comma.ai"
 
+    # FrogPilot variables
+    self.update_frogpilot_params()
+
   def update(self):
+    # Update FrogPilot parameters
+    if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
+      self.update_frogpilot_params()
+
     self.sm.update(0)
 
     if self.sm.updated["managerState"]:
@@ -301,6 +309,11 @@ class RouteEngine:
           self.params.remove("NavDestination")
           self.clear_route()
 
+    frogpilot_plan_send = messaging.new_message('frogpilotNavigation')
+    frogpilotNavigation = frogpilot_plan_send.frogpilotNavigation
+
+    self.pm.send('frogpilotNavigation', frogpilot_plan_send)
+
   def send_route(self):
     coords = []
 
@@ -349,9 +362,10 @@ class RouteEngine:
     return self.reroute_counter > REROUTE_COUNTER_MIN
     # TODO: Check for going wrong way in segment
 
+  def update_frogpilot_params(self):
 
 def main():
-  pm = messaging.PubMaster(['navInstruction', 'navRoute'])
+  pm = messaging.PubMaster(['navInstruction', 'navRoute', 'frogpilotNavigation'])
   sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
 
   rk = Ratekeeper(1.0)

selfdrive/thermald/power_monitoring.py

@@ -37,6 +37,8 @@ class PowerMonitoring:
     # Reset capacity if it's low
     self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), int(car_battery_capacity_uWh))
 
+    # FrogPilot variables
+
   # Calculation tick
   def calculate(self, voltage: Optional[int], ignition: bool):
     try:

selfdrive/thermald/thermald.py

@@ -164,7 +164,7 @@ def hw_state_thread(end_event, hw_queue):
 
 
 def thermald_thread(end_event, hw_queue) -> None:
-  pm = messaging.PubMaster(['deviceState'])
+  pm = messaging.PubMaster(['deviceState', 'frogpilotDeviceState'])
   sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates")
 
   count = 0
@@ -242,6 +242,10 @@ def thermald_thread(end_event, hw_queue) -> None:
     except queue.Empty:
       pass
 
+    fpmsg = messaging.new_message('frogpilotDeviceState')
+
+    pm.send("frogpilotDeviceState", fpmsg)
+
     msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)
     msg.deviceState.memoryUsagePercent = int(round(psutil.virtual_memory().percent))
     msg.deviceState.gpuUsagePercent = int(round(HARDWARE.get_gpu_usage_percent()))

selfdrive/ui/SConscript

@@ -23,7 +23,10 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
-               "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"]
+               "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc",
+               "../frogpilot/ui/frogpilot_ui_functions.cc",
+               "../frogpilot/ui/control_settings.cc", "../frogpilot/ui/vehicle_settings.cc",
+               "../frogpilot/ui/visual_settings.cc"]
 
 qt_env['CPPDEFINES'] = []
 if maps:

selfdrive/ui/qt/home.h

@@ -39,6 +39,8 @@ private:
   OffroadAlert* alerts_widget;
   QPushButton* alert_notif;
   QPushButton* update_notif;
+
+  // FrogPilot variables
 };
 
 class HomeWindow : public QWidget {
@@ -69,6 +71,9 @@ private:
   DriverViewWindow *driver_view;
   QStackedLayout *slayout;
 
+  // FrogPilot variables
+  Params params;
+
 private slots:
   void updateState(const UIState &s);
 };

selfdrive/ui/qt/maps/map.h

@@ -78,6 +78,9 @@ private:
   void updateDestinationMarker();
   uint64_t route_rcv_frame = 0;
 
+  // FrogPilot variables
+  Params params;
+
 private slots:
   void updateState(const UIState &s);
 

selfdrive/ui/qt/maps/map_helpers.h

@@ -8,6 +8,7 @@
 #include <eigen3/Eigen/Dense>
 #include <QGeoCoordinate>
 
+#include "common/params.h"
 #include "common/util.h"
 #include "common/transformations/coordinates.hpp"
 #include "common/transformations/orientation.hpp"

selfdrive/ui/qt/maps/map_settings.h

@@ -64,6 +64,8 @@ private:
   DestinationWidget *work_widget;
   std::vector<DestinationWidget *> widgets;
 
+  // FrogPilot variables
+
 signals:
   void closeSettings();
 };

selfdrive/ui/qt/offroad/settings.cc

@@ -7,6 +7,7 @@
 #include <vector>
 
 #include <QDebug>
+#include <QScrollBar>
 
 #include "selfdrive/ui/qt/network/networking.h"
 
@@ -23,6 +24,10 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 
+#include "selfdrive/frogpilot/ui/control_settings.h"
+#include "selfdrive/frogpilot/ui/vehicle_settings.h"
+#include "selfdrive/frogpilot/ui/visual_settings.h"
+
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
   std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
@@ -117,6 +122,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() {
     updateToggles();
   });
+
+  connect(toggles["IsMetric"], &ToggleControl::toggleFlipped, [=]() {
+    updateMetric();
+  });
 }
 
 void TogglesPanel::expandToggleDescription(const QString &param) {
@@ -245,6 +254,18 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(translateBtn);
 
+  // Delete long term toggle storage button
+  auto deleteStorageParamsBtn = new ButtonControl(tr("Delete Toggle Storage Data"), tr("DELETE"), tr("This button provides a swift and secure way to permanently delete all "
+    "long term stored toggle settings. Ideal for maintaining privacy or freeing up space.")
+  );
+  connect(deleteStorageParamsBtn, &ButtonControl::clicked, [this]() {
+    if (!ConfirmationDialog::confirm(tr("Are you sure you want to permanently delete all of your long term toggle settings storage?"), tr("Delete"), this)) return;
+    std::thread([&] {
+      std::system("rm -rf /persist/comma/params");
+    }).detach();
+  });
+  addItem(deleteStorageParamsBtn);
+
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
       btn->setEnabled(offroad);
@@ -364,7 +385,17 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   close_btn->setFixedSize(200, 200);
   sidebar_layout->addSpacing(45);
   sidebar_layout->addWidget(close_btn, 0, Qt::AlignCenter);
-  QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindow::closeSettings);
+  QObject::connect(close_btn, &QPushButton::clicked, [this]() {
+    if (parentToggleOpen) {
+      if (subParentToggleOpen) {
+        closeSubParentToggle();
+      } else {
+        closeParentToggle();
+      }
+    } else {
+      closeSettings();
+    }
+  });
 
   // setup panels
   DevicePanel *device = new DevicePanel(this);
@@ -373,12 +404,28 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
 
   TogglesPanel *toggles = new TogglesPanel(this);
   QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
+  QObject::connect(toggles, &TogglesPanel::updateMetric, this, &SettingsWindow::updateMetric);
+
+  FrogPilotControlsPanel *frogpilotControls = new FrogPilotControlsPanel(this);
+  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::closeSubParentToggle, this, [this]() {subParentToggleOpen = false;});
+  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openSubParentToggle, this, [this]() {subParentToggleOpen = true;});
+  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::closeParentToggle, this, [this]() {parentToggleOpen = false;});
+  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openParentToggle, this, [this]() {parentToggleOpen = true;});
+
+  FrogPilotVisualsPanel *frogpilotVisuals = new FrogPilotVisualsPanel(this);
+  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::closeSubParentToggle, this, [this]() {subParentToggleOpen = false;});
+  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::openSubParentToggle, this, [this]() {subParentToggleOpen = true;});
+  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::closeParentToggle, this, [this]() {parentToggleOpen = false;});
+  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::openParentToggle, this, [this]() {parentToggleOpen = true;});
 
   QList<QPair<QString, QWidget *>> panels = {
     {tr("Device"), device},
     {tr("Network"), new Networking(this)},
     {tr("Toggles"), toggles},
     {tr("Software"), new SoftwarePanel(this)},
+    {tr("Controls"), frogpilotControls},
+    {tr("Vehicles"), new FrogPilotVehiclesPanel(this)},
+    {tr("Visuals"), frogpilotVisuals},
   };
 
   nav_btns = new QButtonGroup(this);
@@ -411,7 +458,22 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     ScrollView *panel_frame = new ScrollView(panel, this);
     panel_widget->addWidget(panel_frame);
 
+    if (name == tr("Controls") || name == tr("Visuals")) {
+      QScrollBar *scrollbar = panel_frame->verticalScrollBar();
+
+      QObject::connect(scrollbar, &QScrollBar::valueChanged, this, [this](int value) {
+        if (!parentToggleOpen) {
+          previousScrollPosition = value;
+        }
+      });
+
+      QObject::connect(scrollbar, &QScrollBar::rangeChanged, this, [this, panel_frame]() {
+        panel_frame->restorePosition(previousScrollPosition);
+      });
+    }
+
     QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
+      previousScrollPosition = 0;
       btn->setChecked(true);
       panel_widget->setCurrentWidget(w);
     });

selfdrive/ui/qt/offroad/settings.h

@@ -31,11 +31,21 @@ signals:
   void showDriverView();
   void expandToggleDescription(const QString &param);
 
+  // FrogPilot signals
+  void closeParentToggle();
+  void closeSubParentToggle();
+  void updateMetric();
 private:
   QPushButton *sidebar_alert_widget;
   QWidget *sidebar_widget;
   QButtonGroup *nav_btns;
   QStackedWidget *panel_widget;
+
+  // FrogPilot variables
+  bool parentToggleOpen;
+  bool subParentToggleOpen;
+
+  int previousScrollPosition;
 };
 
 class DevicePanel : public ListWidget {
@@ -61,6 +71,10 @@ public:
   explicit TogglesPanel(SettingsWindow *parent);
   void showEvent(QShowEvent *event) override;
 
+signals:
+  // FrogPilot signals
+  void updateMetric();
+
 public slots:
   void expandToggleDescription(const QString &param);
 

selfdrive/ui/qt/offroad/software_settings.cc

@@ -15,6 +15,7 @@
 #include "selfdrive/ui/qt/widgets/input.h"
 #include "system/hardware/hw.h"
 
+#include "selfdrive/frogpilot/ui/frogpilot_ui_functions.h"
 
 void SoftwarePanel::checkForUpdates() {
   std::system("pkill -SIGUSR1 -f selfdrive.updated");

selfdrive/ui/qt/onroad.cc

@@ -28,7 +28,7 @@ static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, cons
   p.setOpacity(1.0);
 }
 
-OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
+OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
   QVBoxLayout *main_layout  = new QVBoxLayout(this);
   main_layout->setMargin(UI_BORDER_SIZE);
   QStackedLayout *stacked_layout = new QStackedLayout;
@@ -93,8 +93,13 @@ void OnroadWindow::updateState(const UIState &s) {
 }
 
 void OnroadWindow::mousePressEvent(QMouseEvent* e) {
+  Params params = Params();
+
+  // FrogPilot clickable widgets
+  bool widgetClicked = false;
+
 #ifdef ENABLE_MAPS
-  if (map != nullptr) {
+  if (map != nullptr && !widgetClicked) {
     // 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;
@@ -102,7 +107,9 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
   }
 #endif
   // propagation event to parent(HomeWindow)
-  QWidget::mousePressEvent(e);
+  if (!widgetClicked) {
+    QWidget::mousePressEvent(e);
+  }
 }
 
 void OnroadWindow::offroadTransition(bool offroad) {
@@ -114,6 +121,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
 
       QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);
       QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
+      QObject::connect(nvg->map_settings_btn_bottom, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
       nvg->map_settings_btn->setEnabled(true);
 
       m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
@@ -167,11 +175,13 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 
   int margin = 40;
   int radius = 30;
+  int offset = true ? 25 : 0;
   if (alert.size == cereal::ControlsState::AlertSize::FULL) {
     margin = 0;
     radius = 0;
+    offset = 0;
   }
-  QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
+  QRect r = QRect(0 + margin, height() - h + margin - offset, width() - margin*2, h - margin*2);
 
   QPainter p(this);
 
@@ -212,7 +222,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 }
 
 // ExperimentalButton
-ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
+ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent), scene(uiState()->scene) {
   setFixedSize(btn_size, btn_size);
 
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
@@ -221,6 +231,8 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
 }
 
 void ExperimentalButton::changeMode() {
+  Params paramsMemory = Params("/dev/shm/params");
+
   const auto cp = (*uiState()->sm)["carParams"].getCarParams();
   bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
   if (can_change) {
@@ -236,6 +248,8 @@ void ExperimentalButton::updateState(const UIState &s) {
     experimental_mode = cs.getExperimentalMode();
     update();
   }
+
+  // FrogPilot variables
 }
 
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
@@ -247,7 +261,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
 
 // MapSettingsButton
 MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) {
-  setFixedSize(btn_size, btn_size);
+  setFixedSize(btn_size, btn_size + 20);
   settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size});
 
   // hidden by default, made visible if map is created (has prime or mapbox token)
@@ -262,7 +276,7 @@ void MapSettingsButton::paintEvent(QPaintEvent *event) {
 
 
 // Window that shows camera view and variety of info drawn on top
-AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
+AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent), scene(uiState()->scene) {
   pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
 
   main_layout = new QVBoxLayout(this);
@@ -276,6 +290,9 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
   main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight);
 
   dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
+
+  // Initialize FrogPilot widgets
+  initializeFrogPilotWidgets();
 }
 
 void AnnotatedCameraWidget::updateState(const UIState &s) {
@@ -468,7 +485,6 @@ void AnnotatedCameraWidget::updateFrameMat() {
 void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   painter.save();
 
-  const UIScene &scene = s->scene;
   SubMaster &sm = *(s->sm);
 
   // lanelines
@@ -525,12 +541,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 }
 
 void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) {
-  const UIScene &scene = s->scene;
-
   painter.save();
 
   // base icon
   int offset = UI_BORDER_SIZE + btn_size / 2;
+  offset += true ? 25 : 0;
   int x = rightHandDM ? width() - offset : offset;
   int y = height() - offset;
   float opacity = dmActive ? 0.65 : 0.2;
@@ -693,6 +708,9 @@ void AnnotatedCameraWidget::paintGL() {
   auto m = msg.initEvent().initUiDebug();
   m.setDrawTimeMillis(cur_draw_t - start_draw_t);
   pm->send("uiDebug", msg);
+
+  // Update FrogPilot widgets
+  updateFrogPilotWidgets(painter);
 }
 
 void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
@@ -701,3 +719,81 @@ void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
   ui_update_params(uiState());
   prev_draw_t = millis_since_boot();
 }
+
+// FrogPilot widgets
+void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
+  bottom_layout = new QHBoxLayout();
+
+  QSpacerItem *spacer = new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Minimum);
+  bottom_layout->addItem(spacer);
+
+  map_settings_btn_bottom = new MapSettingsButton(this);
+  bottom_layout->addWidget(map_settings_btn_bottom);
+
+  main_layout->addLayout(bottom_layout);
+}
+
+void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
+  experimentalMode = scene.experimental_mode;
+
+  if (true) {
+    drawStatusBar(p);
+  }
+
+  map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
+  if (map_settings_btn_bottom->isEnabled()) {
+    map_settings_btn_bottom->setVisible(!hideBottomIcons);
+    bottom_layout->setAlignment(map_settings_btn_bottom, rightHandDM ? Qt::AlignLeft : Qt::AlignRight);
+  }
+}
+
+void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
+  p.save();
+
+  // Variable declarations
+  static QElapsedTimer timer;
+  static QString lastShownStatus;
+
+  QString newStatus;
+
+  static bool displayStatusText = false;
+
+  constexpr qreal fadeDuration = 1500.0;
+  constexpr qreal textDuration = 5000.0;
+
+  // Draw status bar
+  QRect currentRect = rect();
+  QRect statusBarRect(currentRect.left() - 1, currentRect.bottom() - 50, currentRect.width() + 2, 100);
+  p.setBrush(QColor(0, 0, 0, 150));
+  p.setOpacity(1.0);
+  p.drawRoundedRect(statusBarRect, 30, 30);
+
+  // Check if status has changed
+  if (newStatus != lastShownStatus) {
+    displayStatusText = true;
+    lastShownStatus = newStatus;
+    timer.restart();
+  } else if (displayStatusText && timer.hasExpired(textDuration + fadeDuration)) {
+    displayStatusText = false;
+  }
+
+  // Configure the text
+  p.setFont(InterFont(40, QFont::Bold));
+  p.setPen(Qt::white);
+  p.setRenderHint(QPainter::TextAntialiasing);
+
+  // Calculate text opacity
+  static qreal statusTextOpacity;
+  int elapsed = timer.elapsed();
+  if (displayStatusText) {
+    statusTextOpacity = qBound(0.0, 1.0 - (elapsed - textDuration) / fadeDuration, 1.0);
+  }
+
+  // Draw the status text
+  p.setOpacity(statusTextOpacity);
+  QRect textRect = p.fontMetrics().boundingRect(statusBarRect, Qt::AlignCenter | Qt::TextWordWrap, newStatus);
+  textRect.moveBottom(statusBarRect.bottom() - 50);
+  p.drawText(textRect, Qt::AlignCenter | Qt::TextWordWrap, newStatus);
+
+  p.restore();
+}

selfdrive/ui/qt/onroad.h

@@ -14,13 +14,14 @@
 const int btn_size = 192;
 const int img_size = (btn_size / 4) * 3;
 
+// FrogPilot global variables
 
 // ***** onroad widgets *****
 class OnroadAlerts : public QWidget {
   Q_OBJECT
 
 public:
-  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}
+  OnroadAlerts(QWidget *parent = 0) : QWidget(parent), scene(uiState()->scene) {}
   void updateAlert(const Alert &a);
 
 protected:
@@ -29,6 +30,9 @@ protected:
 private:
   QColor bg;
   Alert alert = {};
+
+  // FrogPilot variables
+  UIScene &scene;
 };
 
 class ExperimentalButton : public QPushButton {
@@ -47,6 +51,9 @@ private:
   QPixmap experimental_img;
   bool experimental_mode;
   bool engageable;
+
+  // FrogPilot variables
+  UIScene &scene;
 };
 
 
@@ -71,6 +78,7 @@ public:
   void updateState(const UIState &s);
 
   MapSettingsButton *map_settings_btn;
+  MapSettingsButton *map_settings_btn_bottom;
 
 private:
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
@@ -97,6 +105,21 @@ private:
   int skip_frame_count = 0;
   bool wide_cam_requested = false;
 
+  // FrogPilot widgets
+  void initializeFrogPilotWidgets();
+  void updateFrogPilotWidgets(QPainter &p);
+
+  void drawStatusBar(QPainter &p);
+
+  // FrogPilot variables
+  Params paramsMemory{"/dev/shm/params"};
+
+  UIScene &scene;
+
+  QHBoxLayout *bottom_layout;
+
+  bool experimentalMode;
+
 protected:
   void paintGL() override;
   void initializeGL() override;
@@ -135,6 +158,10 @@ private:
   QWidget *map = nullptr;
   QHBoxLayout* split;
 
+  // FrogPilot variables
+  UIScene &scene;
+  Params paramsMemory{"/dev/shm/params"};
+
 private slots:
   void offroadTransition(bool offroad);
   void primeChanged(bool prime);

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);
@@ -38,6 +38,8 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
 
   pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"userFlag"});
+
+  // FrogPilot variables
 }
 
 void Sidebar::mousePressEvent(QMouseEvent *event) {
@@ -79,6 +81,9 @@ void Sidebar::updateState(const UIState &s) {
   int strength = (int)deviceState.getNetworkStrength();
   setProperty("netStrength", strength > 0 ? strength + 1 : 0);
 
+  // FrogPilot properties
+  auto frogpilotDeviceState = sm["frogpilotDeviceState"].getFrogpilotDeviceState();
+
   ItemStatus connectStatus;
   auto last_ping = deviceState.getLastAthenaPingTime();
   if (last_ping == 0) {

selfdrive/ui/qt/sidebar.h

@@ -18,6 +18,8 @@ class Sidebar : public QFrame {
   Q_PROPERTY(QString netType MEMBER net_type NOTIFY valueChanged);
   Q_PROPERTY(int netStrength MEMBER net_strength NOTIFY valueChanged);
 
+  // FrogPilot properties
+
 public:
   explicit Sidebar(QWidget* parent = 0);
 
@@ -59,4 +61,8 @@ protected:
 
 private:
   std::unique_ptr<PubMaster> pm;
+
+  // FrogPilot variables
+  Params params;
+  UIScene &scene;
 };

selfdrive/ui/qt/spinner.cc

@@ -88,7 +88,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
     }
     QProgressBar::chunk {
       border-radius: 10px;
-      background-color: white;
+      background-color: rgba(23, 134, 68, 255);
     }
   )");
 

selfdrive/ui/qt/util.cc

@@ -26,7 +26,7 @@ QString getVersion() {
 }
 
 QString getBrand() {
-  return QObject::tr("openpilot");
+  return QObject::tr("FrogPilot");
 }
 
 QString getUserAgent() {

selfdrive/ui/qt/widgets/controls.h

@@ -132,6 +132,10 @@ public:
     toggle.update();
   }
 
+  void refresh() {
+    toggle.togglePosition();
+  }
+
 signals:
   void toggleFlipped(bool state);
 

selfdrive/ui/qt/widgets/scrollview.cc

@@ -44,6 +44,10 @@ ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) {
   scroller->setScrollerProperties(sp);
 }
 
+void ScrollView::restorePosition(int previousScrollPosition) {
+  verticalScrollBar()->setValue(previousScrollPosition);
+}
+
 void ScrollView::hideEvent(QHideEvent *e) {
   verticalScrollBar()->setValue(0);
 }

selfdrive/ui/qt/widgets/scrollview.h

@@ -7,6 +7,9 @@ class ScrollView : public QScrollArea {
 
 public:
   explicit ScrollView(QWidget *w = nullptr, QWidget *parent = nullptr);
+
+  // FrogPilot functions
+  void restorePosition(int previousScrollPosition);
 protected:
   void hideEvent(QHideEvent *e) override;
 };

selfdrive/ui/qt/widgets/wifi.h

@@ -12,6 +12,10 @@ class WiFiPromptWidget : public QFrame {
 public:
   explicit WiFiPromptWidget(QWidget* parent = 0);
 
+private:
+  // FrogPilot variables
+  Params params;
+
 signals:
   void openSettings(int index = 0, const QString &param = "");