sunnypilot - 0.9.6.1 (2024-02-27)

• New driving model
  • Vision model trained on more data
  • Improved driving performance
  • Directly outputs curvature for lateral control
• New driver monitoring model
  • Trained on larger dataset
• AGNOS 9
• comma body streaming and controls over WebRTC
• Improved fuzzy fingerprinting for many makes and models
• Alpha longitudinal support for new Toyota models
• Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
• Dodge Durango 2020-21 support
• Hyundai Staria 2023 support thanks to sunnyhaibin!
• Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
• Lexus LC 2024 support thanks to nelsonjchen!
• Toyota RAV4 2023-24 support
• Toyota RAV4 Hybrid 2023-24 support

• UPDATED: Synced with commaai's openpilot
  • master commit db57a21 (February 22, 2024)
  • v0.9.6 release (February 27, 2024)
• UPDATED: Dynamic Experimental Control (DEC)
  • Synced with dragonpilot-community/dragonpilot:beta3 commit f4ee52f
• NEW❗: Default Driving Model: Certified Herbalist v2 (February 13, 2024)
• UPDATED: Driving Model Selector v3
  • NEW❗: Driving Model additions
    • Certified Herbalist v2 (February 13, 2024) - CHv2
    • Certified Herbalist (February 5, 2024) - CH
    • Los Angeles v2 (January 24, 2024) - LAv2
    • Los Angeles (January 22, 2024) - LAv1
  • NEW❗: Model Caching thanks to DevTekVE!
    • Model caching allows the selection of previously downloaded Driving Model
    • Users can now access cached versions of selected models, eliminating redundant downloads for previously fetched models
  • Legacy Driving Models support
    • New Delhi (December 21, 2023) - ND
    • Blue Diamond v2 (December 11, 2023) - BDv2
    • Blue Diamond (November 18, 2023) - BDv1
    • Farmville (November 7, 2023) - FV
    • Night Strike (October 3, 2023) - NS
  • Certain features are deprecated with newer Driving Models
    • Dynamic Lane Profile (DLP)
    • Custom Offsets
• UPDATED: Dynamic Lane Profile (DLP)
  • Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
  • Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
• UPDATED: Custom Offsets
  • Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
  • Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
• UPDATED: Hyundai/Kia/Genesis - ESCC Radar Interceptor
  • Message parsing improvements with the latest firmware update: https://github.com/sunnypilot/panda/tree/test-escc-smdps
• UI Updates
  • NEW❗: Visuals: Display Feature Status toggle
    • Display the statuses of certain features on the driving screen
  • NEW❗: Visuals: Enable Onroad Settings toggle
    • Display the Onroad Settings button on the driving screen to adjust feature options on the driving screen, without navigating into the settings menu
  • REMOVED: "Device ambient" temperature option on the sidebar
• FIXED: New comma 3X support
• FIXED: New comma eSIM support
• Bug fixes and performance improvements

sunnypilot - 0.9.5.3 (2023-12-24)

• UPDATED: Dynamic Experimental Control (DEC)
  • Synced with dragonpilot-community/dragonpilot:lp-dp-beta2 commit 578d38b
• UPDATED: Driving Model Selector v2
  • Driving models sort in descending order based on availability date
  • Experimental/unmerged driving models are only available in "dev-c3" branch
    • To select and use experimental driving models, navigate to "Software" panel, select the "dev-c3" branch, and check for update
• UPDATED: Vision-based Turn Speed Control (V-TSC) implementation
  • Refactored implementation thanks to pfeiferj!
  • More accurate and consistent velocity calculation to achieve smoother longitudinal control in curves
• NEW❗: Speed Limit Warning
  • Display alert and/or chime to warn the driver when the cruising speed is faster than the speed limit plus the Warning Offset
  • Customizable Warning Offset, independent of Speed Limit Control (SLC)'s Limit Offset
• UPDATED: Speed Limit Source Policy
  • Selectable speed limit source for Speed Limit Control and Speed Limit Warning
  • Applicable to: Speed Limit Control, Speed Limit Warning
• UPDATED: Speed Limit Control (SLC)
  • Engage Mode: Removed "Warning Only" mode - this has been replaced by the new Speed Limit Warning sub-menu
• UPDATED: OpenStreetMap (OSM) implementation
  • Refactored implementation thanks to pfeiferj!
    • Less resource impact
    • Significantly smaller sizes with databases
    • All regions are available to download
    • Weekly map updates thanks to pfeiferj!
    • Increased the font size of the road name
  • C3X-specific changes
    • Altitude (ALT.) display on Developer UI
    • Current street name on top of driving screen when "OSM Debug UI" is enabled
• UPDATED: Map-based Turn Speed Control (M-TSC) implementation
  • Only available in "staging-c3" and "dev-c3" branches. If you are using "release-c3" branch, navigate to "Software" panel, select the desired target branch, and check for update
  • Refactored implementation thanks to pfeiferj!
  • Based on the new OpenStreetMap implementation
  • Improved predicted curvature calculations from OpenStreetMap data
• UI updates
  • RE-ENABLED: Navigation: Full screen support
    • Display the map view in full screen
    • To switch back to driving view, tap on the border edge
• Hyundai Bayon Non-SCC 2019 support thanks to polein78!

sunnypilot - 0.9.5.2 (2023-12-07)

• NEW❗: MADS: Allow Navigate on openpilot in Chill Mode
  • Allow navigation to feed map view into the driving model while using Chill Mode
  • Support all platforms, including platforms that do not support openpilot longitudinal control & Experimental Mode
• NEW❗: Neural Network Lateral Controller
  • Formerly known as "NNFF", this replaces the lateral "torque" controller with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy
  • Contact @twilsonco in the sunnypilot Discord server with feedback, or to provide log data for your car if your car is currently unsupported
• NEW❗: Driving Model Selector
  • Easily switch between driving models without reinstalling branches. Offering immediate access to the latest models upon release
    • An internet connection is required for downloading models. Each model switch currently involves downloading the model again. Future updates may allow for offline switching
  • Warning is displayed for metered connections to avoid unexpected data usage if on cellular data
  • Change driving models via Settings -> Software -> Current Driving Model.
• NEW❗: Hyundai CAN longitudinal:
  • NEW❗: Enable radar tracks for certain Santa Fe platforms
    • Internal Combustion Engine (ICE) 2021-23
    • Hybrid 2022-23
    • Plug-in Hybrid 2022-23
• NEW❗: Lane Change: When manually braking with steering engaged, turning on the turn signal will default to Nudge mode
• Volkswagen MQB CC only platforms (radar or no radar) support thanks to jyoung8607!

sunnypilot - 0.9.5.1 (2023-11-17)

• UPDATED: Synced with commaai's master commit e94c3c5
• NEW❗: Farmville driving model
• NEW❗: Onroad Settings Panel
  • Onroad buttons (i.e., DLP, GAC) moved to its dedicated panel
    • Driving Personality
    • Dynamic Lane Profile (DLP)
    • Dynamic Experimental Control (DEC)
    • Speed Limit Control (SLC)
• NEW❗: Display main feature status on onroad view in real-time
  • GAP - Driving Personality
  • DLP - Dynamic Lane Profile
  • DEC - Dynamic Experimental Control
  • SLC - Speed Limit Control
• NEW❗: Dynamic Experimental Control (DEC) thanks to dragonpilot-community!
  • Automatically determines and selects between openpilot ACC and openpilot End to End longitudinal based on conditions for a more natural drive
  • Dynamic Experimental Control is only active while in Experimental Mode
  • When Dynamic Experimental Control is ON, initially setting cruise speed will set to the vehicle's current speed
• NEW❗: Hyundai CAN longitudinal:
  • NEW❗: Parse lead info for camera-based SCC platforms
    • Improve lead tracking when using openpilot longitudinal
  • NEW❗: Parse lead distance to display on car cluster
    • Introduced better lead distance calculation to display on the car's cluster, replacing the binary "lead visible" indication on the SCC cluster
    • Lead distance is now categorized into different ranges for more detailed and comprehensive information to the driver similar to how stock ACC does it
  • NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
• NEW❗: Subaru - Stop and Go auto-resume support thanks to martinl!
  • Global (excluding Gen 2 and Hybrid) and Pre-Global support
• NEW❗: Toyota - Stop and Go hack
  • Allow some Toyota/Lexus cars to auto resume during stop and go traffic
  • Only applicable to certain models and model years
• NEW❗: Toyota: ZSS support thanks to dragonpilot-community and ErichMoraga!
• NEW❗: MSPA (Cereal structs refactor)
  • Make sunnypilot Parsable Again - @sshane
  • sunnypilot is now parsable with stock openpilot tools
• NEW❗: Display 3D buildings on map thanks to jakethesnake420!
• openpilot Longitudianl Control capable cars only
  • UPDATED: Gap Adjust Cruise is now a part of Driving Personality
    • [DISTANCE/FOLLOW DISTANCE/GAP DISTANCE] physical button on the steering wheel to select Driving Personality on by default
    • Status now viewable in onroad view or Onroad Settings Panel
    • REMOVED: Gap Adjust Cruise toggle
• UPDATED: Speed Limit Control (SLC)
  • NEW❗: Speed Limit Engage Mode
    • Select the desired mode to set the cruising speed to the speed limit
      • Warning Only: Warn the driver when the vehicle is driven faster than the speed limit
      • Auto: Automatic speed adjustment on motorways based on speed limit data
      • User Confirm: Inform the driver to change set speed of Adaptive Cruise Control to help the driver stay within the speed limit
    • Supported platforms
      • openpilot Longitudinal Control available cars (Excluding certain Toyota/Lexus, Ford, explained below)
      • Custom Stock Longitudinal Control available cars
    • Unsupported platforms
      • Toyota/Lexus and Ford - most platforms do not allow us to control the PCM's set speed, requires testers to verify
  • NEW❗: Speed limit source selector
    • Select the desired precedence order of sources used to adapt cruise speed to road limits
• UPDATED: Custom Stock Longitudinal Control
  • RE-ENABLED: Hyundai/Kia/Genesis CAN-FD platforms
• UPDATED: Custom Offsets reimplementation
  • Camera Offset only works in Laneful (Laneful Only or Laneful in Auto mode when using Dynamic Lane Profile)
  • Path Offset can be applied to both Laneless and Laneful
• UPDATED: Refactored Torque Lateral Control custom tuning menu
  • NEW❗: Less Restrict Settings for Self-Tune (Beta)
  • NEW❗: Custom Tuning for setting offline and live values in real-time
• UPDATED: Auto-detect custom Mapbox token if a personal Mapbox token is provided
  • REMOVED: "Enable Mapbox Navigation" toggle
• UI updates
  • New Settings menu redesign and improved interactions
• FIXED: Retain hotspot/tethering state was not consistently saved
• FIXED: Map stuck in "Map Loading" if comma Prime is active
• FIXED: OpenStreetMap implementation on C3X devices
  • M-TSC
  • Altitude (ALT.) display on Developer UI
  • Current street name on top of driving screen when "OSM Debug UI" is enabled
• Hyundai Kona Non-SCC 2019 support thanks to Quex!
• Kia Seltos Non-SCC 2023-24 support thanks to Moodkiller and jeroid_!

sunnypilot - 0.9.4.1 (2023-08-11)

• UPDATED: Synced with commaai's 0.9.4 release
• NEW❗: Moonrise driving model
• NEW❗: Ford upstream models support
• UPDATED: Dynamic Lane Profile selector in the "SP - Controls" menu
• REMOVED: Dynamic Lane Profile driving screen UI button
• FIXED: Disallow torque lateral control for angle control platforms (e.g. Ford, Nissan, Tesla)
  • Torque lateral control cannot be used by angle control platforms, and would cause a "Controls Unresponsive" error if Torque lateral control is enforced in settings
• REMOVED: Speed Limit Style override
• Honda Accord 2016-17 support thanks to mlocoteta!
  • Serial Steering hardware required. For more information, see https://github.com/mlocoteta/serialSteeringHardware
• mapd: utilize advisory speed limit in curves (#142) thanks to pfeiferj!

sunnypilot - 0.9.3.1 (2023-07-09)

• UPDATED: Synced with commaai's 0.9.3 release
• NEW❗: Display Temperature on Sidebar toggle
  • Display Ambient temperature, memory temperature, CPU core with the highest temperature, GPU temperature, or max of Memory/CPU/GPU on the sidebar
  • Replace "Display CPU Temperature on Sidebar" toggle
• NEW❗: Hot Coffee driving model
• NEW❗: HKG CAN: Smoother Stopping Performance (Beta) toggle
  • Smoother stopping behind a stopped car or desired stopping event.
  • This is only applicable to HKG CAN platforms using openpilot longitudinal control
• NEW❗: Toyota: TSS2 longitudinal: Custom Tuning
  • Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars thanks to dragonpilot-community!
• NEW❗: Enable Screen Recorder toggle
  • Enable this will display a button on the onroad screen to toggle on or off real-time screen recording with UI elements.
• IMPROVED: Dynamic Lane Profile: when using Laneline planner via Laneline Mode or Auto Mode, enforce Laneless planner while traveling below 10 MPH or 16 km/h
• REMOVED: Display CPU Temperature on Sidebar

• NEW❗: Auto Lane Change: Delay with Blind Spot
  • Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects an obstructing vehicle, ensuring safe maneuvering
• NEW❗: Driving Screen Off: Wake with Non-Critical Events
  • When Driving Screen Off Timer is not set to "Always On":
    • Enabled: Wake the brightness of the screen to display all events
    • Disabled: Wake the brightness of the screen to display critical events
  • Currently, all non-nudge modes are default to continue lane change after 1 seconds of blind spot detection
• NEW❗: Fleet Manager PIN Requirement toggle
  • User can now enable or disable PIN requirement on the comma device before accessing Fleet Manager
• NEW❗: Reset all sunnypilot settings toggle
• NEW❗: Turn signals display on screen when blinker is used
  • Green: Blinker is on
  • Red: Blinker is on, car detected in the adjacent blind spot or road edge detected
• IMPROVED: mapd: better exceptions handling when loading dependencies
• UPDATED: Green Traffic Light Chime no longer displays an orange border when executed
• FIXED: mapd: Road name flashing caused by desync with last GPS timestamp
• FIXED: Ram HD (2500/3500): Ignore paramsd sanity check
  • Live parameters have trouble with self-tuning on this platform with upstream openpilot 0.9.2
• Hyundai: Longitudinal support for CAN-based Camera SCC cars thanks to Zack1010OP's Patreon sponsor!

• NEW❗: Toyota: Allow M.A.D.S. toggling with LKAS Button (Beta)
• IMPROVED: Ram: cruise button handling

• UPDATED: Synced with commaai's 0.9.2 release
• UPDATED: feature revamp with better stability
• UPDATED:
  • M.A.D.S.
    • Path color becomes LIGHT ORANGE during Driver Steering Override
  • Gap Adjust Cruise (now known as Driving Personality in upstream openpilot 0.9.3):
    • Updated profiles and jerk changes
    • Experimental Mode support
    • Three settings: Stock, Aggressive, and Maniac
    • Stock is recommended and the default
    • In Aggressive/Maniac mode, lead follow distance is shorter and quicker gas/brake response
  • Dynamic Lane Profile
    • Display blue borders on both sides of the driving path when Laneline mode is being used in the planner
    • Auto Mode optimization
      • Permanent: Laneless during Auto Lane Change execution
  • Mapd
    • OpenStreetMap Database: new regions added
  • Developer UI (Dev UI)
    • REMOVED: 2-column design
    • NEW❗: 1-column + 1-row design
  • Custom Stock Longitudinal Control
    • NEW❗: Chrysler/Jeep/Ram support
    • NEW❗: Mazda support
    • NEW❗: Volkswagen PQ support
    • DISABLED: Hyundai/Kia/Genesis CAN-FD platforms
• NEW❗: Switch between Chill (openpilot ACC) and Experimental (E2E longitudinal) with DISTANCE button on the steering wheel
  • To switch between Chill and Experimental Mode: press and hold the DISTANCE button on the steering wheel for over 0.5 second
  • All openpilot longitudinal capable cars support
• NEW❗: Nicki Minaj driving model
• NEW❗: Nissan and Mazda upstream models support
• NEW❗: Pre-Global Subaru upstream models support
• NEW❗: Display End-to-end Longitudinal Status (Beta)
  • Display an icon that appears when the End-to-end model decides to start or stop
• NEW❗: Green Traffic Light Chime (Beta)
  • A chime will play when the traffic light you are waiting for turns green, and you have no vehicle in front of you.
• NEW❗: Lead Vehicle Departure Alert
  • Notify when the leading vehicle drives away
• NEW❗: Speedometer: Display True Speed
  • Display the true vehicle current speed from wheel speed sensors.
• NEW❗: Speedometer: Hide from Onroad Screen
• NEW❗: Auto-Hide UI Buttons
  • Hide UI buttons on driving screen after a 30-second timeout. Tap on the screen at anytime to reveal the UI buttons
  • Applicable to Dynamic Lane Profile (DLP) and Gap Adjust Cruise (GAC)
• NEW❗: Display DM Camera in Reverse Gear
  • Show Driver Monitoring camera while the car is in reverse gear
• NEW❗: Block Lane Change: Road Edge Detection (Beta)
  • Block lane change when road edge is detected on the stalk actuated side
• NEW❗: Display CPU Temperature on Sidebar
  • Display the CPU core with the highest temperature on the sidebar
• NEW❗: Display current driving model in Software settings
• NEW❗: HKG: smartMDPS automatic detection (installed with applicable firmware)
• FIXED: Unintended siren/alarm from the comma device if the vehicle is turned off too quickly in PARK gear
• FIXED: mapd: Exception handling for loading dependencies
• Fleet Manager via Browser support thanks to actuallylemoncurd, AlexandreSato, ntegan1, and royjr!
  • Access your dashcam footage, screen recordings, and error logs when the car is turned off
  • Connect to the device via Wi-Fi, mobile hotspot, or tethering on the comma device, then navigate to http://ipAddress:5050 to access.
• Honda Clarity 2018-22 support thanks to mcallbosco, vanillagorillaa and wirelessnet2!
• Ram: Steer to 0/7 MPH support thanks to vincentw56!
• Retain hotspot/tethering state across reboots thanks to rogerioaguas!