IQ.Pilot Release Commit @ 4521b0f

2026-08-22 10:38:43 -05:00
parent e142a0001a
commit 11cefcb266
29 changed files with 822 additions and 111 deletions
--- a/artifacts/iqpilot_updater_private/manifest.json
+++ b/artifacts/iqpilot_updater_private/manifest.json
@@ -14,15 +14,20 @@
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    "size": 0
  },
+  "python/iqpilot_private/updater/_iqos_pat_blob.cpython-312-aarch64-linux-gnu.so": {
+    "mode": 493,
+    "sha256": "94664d1b9abd1c0cb124707bf10f746f23adf0847a890d507df86f1e4a7e8ca9",
+    "size": 67616
+  },
  "python/iqpilot_private/updater/_pat_blob.cpython-312-aarch64-linux-gnu.so": {
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-    "sha256": "f8c5eeeb8cfb6fb077ab80e95a93bb8a36c819a2d2147e560ec015cfe43eed20",
+    "sha256": "481235a5685e14f5b8e9216908be23be9743fe6f487f2b38fb21c33dd84e22cf",
    "size": 67616
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  "python/iqpilot_private/updater/git_remote.cpython-312-aarch64-linux-gnu.so": {
    "mode": 493,
-    "sha256": "f9806ad70ffe7718e64a3ecb23821b2aee91658562a525767675d944035ce235",
-    "size": 70056
+    "sha256": "75ffbf8212f805b054c97ca4723a56071db822e889cda9d6bec233b2d2c8592a",
+    "size": 136488
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  "runtime": {
    "entries": {
@@ -33,7 +38,8 @@
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  },
  "signatures": {
-    "python/iqpilot_private/updater/_pat_blob.cpython-312-aarch64-linux-gnu.so": "7RM6ZvkT7i7s3djWFUPOs3s/kOiscys7+o+3gGTLlPC6PJAyalRGOPkn5SlsnfaLZk8CIaENZEpqfspISa+DBw==",
-    "python/iqpilot_private/updater/git_remote.cpython-312-aarch64-linux-gnu.so": "pSvniR0EAnpTwpKqGvM8deAR8qe68W40n/pjkAO8QqNuz0/UgKQFQWlms5E+Xvz6yTMhg33W4ICOSu65mT4MCA=="
+    "python/iqpilot_private/updater/_iqos_pat_blob.cpython-312-aarch64-linux-gnu.so": "B45oDHpHNmslzjTyeuEVbE4fOytUsC/0po+CiHiLI+T01yWJIb6Dt4yFJm+qVTEqCLJfajedd1FnIQHCyUddDw==",
+    "python/iqpilot_private/updater/_pat_blob.cpython-312-aarch64-linux-gnu.so": "a+YcE2ik7Oo3btunKGoA+FHN+uSDoric2V6nu5SjtKSM/Nwpg1M9BX0BM55sA56sz6FgPRn93u+yPL7eryLYDw==",
+    "python/iqpilot_private/updater/git_remote.cpython-312-aarch64-linux-gnu.so": "NcdigDJOQ7d9A+HXCewPowezSML1i4cHW6uRyZ1N6vmtkXDorRk9YC4lxlM8uvoS/tB5/jQBkfc/DhkwPXAoAA=="
  }
 }
--- a/artifacts/iqpilot_updater_private/manifest.json.sig
+++ b/artifacts/iqpilot_updater_private/manifest.json.sig
@@ -1 +1 @@
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--- a/artifacts/iqpilot_updater_private/python/iqpilot_private/updater/_iqos_pat_blob.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_updater_private/python/iqpilot_private/updater/_iqos_pat_blob.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_updater_private/python/iqpilot_private/updater/_pat_blob.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_updater_private/python/iqpilot_private/updater/_pat_blob.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/iqpilot_updater_private/python/iqpilot_private/updater/git_remote.cpython-312-aarch64-linux-gnu.so
+++ b/artifacts/iqpilot_updater_private/python/iqpilot_private/updater/git_remote.cpython-312-aarch64-linux-gnu.so
--- a/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carcontroller.py
+++ b/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/carcontroller.py
@@ -259,8 +259,8 @@ class CarController(CarControllerBase):
    self._pq_patch_checked = not bool(CP.flags & VolkswagenFlags.PQ) or self.eps_timer_workaround
    self.hca_frame_timer_resetting = 0
    self.hca_frame_low_torque = 0
-    self.long_override_counter = 0
-    self.long_disabled_counter = 0
+    self.acc_hold_type_last = mebcan.ACC_HMS_NO_REQUEST
+    self.acc_hold_ramp_counter = 0
    self.standstill_manager = MQBStandstillManager(CP.mass, self.CCP.ACCEL_MIN) if self.CCS == mqbcan else None
    self.radar_handler = PQRadarHandler(self.CAN) if self.CCS is pqcan else None
    self.blend_stock_radar = False
@@ -474,11 +474,7 @@ class CarController(CarControllerBase):
        accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.enabled else 0)

        long_override = CC.cruiseControl.override or CS.out.gasPressed
-        self.long_override_counter = min(self.long_override_counter + 1, 5) if long_override else 0
-        long_override_begin = long_override and self.long_override_counter < 5

-        self.long_disabled_counter = min(self.long_disabled_counter + 1, 5) if not CC.enabled else 0
-        long_disabling = not CC.enabled and self.long_disabled_counter < 5

        critical_state = hud_control.visualAlert == VisualAlert.fcw
        if CC.longComfortMode and self.long_jerk_control is not None and self.long_limit_control is not None:
@@ -486,8 +482,10 @@ class CarController(CarControllerBase):
          self.long_limit_control.update(CC.enabled, CS.out.vEgoRaw, hud_control.setSpeed, hud_control.leadDistance, hud_control.leadVisible, critical_state)

        acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.enabled, long_override)
-        acc_hold_type = self.CCS.acc_hold_type(CS.out.cruiseState.available, CS.out.accFaulted, CC.enabled, starting, stopping,
-                                               CS.esp_hold_confirmation, long_override, long_override_begin, long_disabling)
+        acc_hold_type, self.acc_hold_ramp_counter = self.CCS.acc_hold_type(
+          CS.out.cruiseState.available, CS.out.accFaulted, CC.enabled, starting, stopping,
+          CS.esp_hold_confirmation, long_override, self.acc_hold_type_last, self.acc_hold_ramp_counter)
+        self.acc_hold_type_last = acc_hold_type
        can_sends.extend(self.CCS.create_acc_accel_control(
          self.packer_pt, self.CAN.pt, self.CP, CS.acc_type, CC.enabled,
          self.long_jerk_control.get_jerk_up() if CC.longComfortMode and self.long_jerk_control is not None else 4.0,
--- a/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/mebcan.py
+++ b/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/mebcan.py
@@ -16,6 +16,7 @@ ACC_HMS_RAMP_RELEASE = 5
 ACC_HMS_RELEASE      = 4
 ACC_HMS_HOLD         = 1
 ACC_HMS_NO_REQUEST   = 0
+ACC_HMS_RAMP_FRAMES  = 5

 ACC_HUD_ERROR    = 6
 ACC_HUD_OVERRIDE = 4
@@ -160,21 +161,16 @@ def acc_control_value(main_switch_on, acc_faulted, long_active, override):
  return acc_control


-def acc_hold_type(main_switch_on, acc_faulted, long_active, starting, stopping, esp_hold, override, override_begin, long_disabling):
+def acc_hold_type(main_switch_on, acc_faulted, long_active, starting, stopping, esp_hold, override,
+                  prev_acc_hold_type, ramp_counter):
  # warning: car is reacting to hold mechanic even with long control off

  if acc_faulted:
    acc_hold_type = ACC_HMS_NO_REQUEST # no hold request
  elif not long_active:
-    if long_disabling:
-      acc_hold_type = ACC_HMS_RAMP_RELEASE # ramp release of requests right after disabling long control (prevents car error with EPB at low speed)
-    else:
-      acc_hold_type = ACC_HMS_NO_REQUEST # no hold request
+    acc_hold_type = ACC_HMS_NO_REQUEST # no hold request
  elif override:
-    if override_begin:
-      acc_hold_type = ACC_HMS_RAMP_RELEASE # ramp release of requests at the beginning of override (prevents car error with EPB at low speed)
-    else:
-      acc_hold_type = ACC_HMS_NO_REQUEST # overriding / no request
+    acc_hold_type = ACC_HMS_NO_REQUEST # overriding / no request
  elif starting:
    acc_hold_type = ACC_HMS_RELEASE # release request and startup
  elif stopping or esp_hold:
@@ -182,7 +178,18 @@ def acc_hold_type(main_switch_on, acc_faulted, long_active, starting, stopping,
  else:
    acc_hold_type = ACC_HMS_NO_REQUEST # no hold request

-  return acc_hold_type
+  if acc_hold_type == ACC_HMS_HOLD:
+    ramp_counter = 0
+  elif prev_acc_hold_type == ACC_HMS_HOLD and acc_hold_type == ACC_HMS_NO_REQUEST:
+    acc_hold_type = ACC_HMS_RAMP_RELEASE
+    ramp_counter = ACC_HMS_RAMP_FRAMES
+  elif ramp_counter > 0:
+    acc_hold_type = ACC_HMS_RAMP_RELEASE
+    ramp_counter -= 1
+  else:
+    pass
+
+  return acc_hold_type, ramp_counter


 def create_acc_accel_control(packer, bus, CP, acc_type, acc_enabled, upper_jerk, lower_jerk, upper_control_limit, lower_control_limit,
--- a/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/pqcan.py
+++ b/artifacts/package_sources/iqdbc/iqdbc/car/volkswagen/pqcan.py
@@ -139,7 +139,7 @@ def create_blinker_control(packer, bus, leftBlinker, rightBlinker):


 def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, leadDistance, distanceBars, fcw_alert, leadVisible, unavailable, decel, d_unresponsive):
-  priodisp = 0 if fcw_alert else 1 if (acc_hud_status == 4 or decel or leadVisible) else 2 if (acc_hud_status in (3, 2)) else 0
+  priodisp = 0 if fcw_alert else 0 if (acc_hud_status == 4 or decel) else 2 if (acc_hud_status in (3, 2) or leadVisible) else 0
  leadDistanceBars = distanceBars + 1 if distanceBars in (1, 2, 3) else 2
  values = {
    "ACA_StaACC": acc_hud_status,
@@ -149,7 +149,6 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, leadDistance,
    "ACA_gemZeitl": min(15, max(1, int(round(leadDistance)))) if leadVisible else 0,
    "ACA_PrioDisp": priodisp,
    "ACA_Akustik1": d_unresponsive,
-    # "ACA_Fahrerhinw": unavailable,
    "ACA_Akustik2": fcw_alert,
    "ACA_ACC_Verz": decel,
  }
--- a/artifacts/package_sources/iqdbc/iqdbc/lvbs/car/tesla/test_torque_blend.py
+++ b/artifacts/package_sources/iqdbc/iqdbc/lvbs/car/tesla/test_torque_blend.py
@@ -0,0 +1,205 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from types import SimpleNamespace
+
+import pytest
+
+from iqdbc.car.tesla.interface import CarInterface
+from iqdbc.car.vehicle_model import VehicleModel
+from iqdbc.lvbs.car.tesla.torque_blend import (
+  DT_LAT_CTRL,
+  STEER_OVERRIDE_MAX_LAT_ACCEL,
+  STEER_OVERRIDE_MIN_TORQUE,
+  STEER_OVERRIDE_TORQUE_RANGE,
+  STEER_OVERRIDE_TORQUE_ZERO_MAX,
+  SteeringTorqueZero,
+  TorqueBlendController,
+  calc_override_angle_limited,
+  get_steer_from_lat_accel,
+)
+from iqdbc.lvbs.car.tesla.values import TeslaFlagsIQ
+
+VM = VehicleModel(CarInterface.get_non_essential_params("TESLA_MODEL_Y"))
+
+COOP_ON = SimpleNamespace(flags=TeslaFlagsIQ.COOP_STEERING.value)
+COOP_OFF = SimpleNamespace(flags=0)
+
+HAND_REST_TORQUE = 0.55
+ZERO_WEIGHT_SPEED = 20.0
+FULL_WEIGHT_SPEED = 8.0
+SETTLING_SECONDS = 300.0
+
+
+def _car_state(torque, v_ego, angle=0.0):
+  return SimpleNamespace(
+    out=SimpleNamespace(steeringTorque=torque, vEgo=v_ego, vEgoRaw=v_ego, steeringAngleDeg=angle, steeringRateDeg=0.0),
+    hands_on_level=0,
+  )
+
+
+def _drive(blend, torque, v_ego, seconds, angle=0.0, cp_iq=COOP_ON, lat_active=True):
+  steps = int(seconds / DT_LAT_CTRL)
+  out = 0.0
+  for _ in range(steps):
+    out = blend.update(angle, lat_active, cp_iq, _car_state(torque, v_ego, angle), VM).steeringAngleDeg
+  return out
+
+
+def _override(blend):
+  return blend.coop_apply_angle_last - blend.debug_angle_desired_limited
+
+
+MAX_NULLABLE_PRELOAD = STEER_OVERRIDE_MIN_TORQUE + STEER_OVERRIDE_TORQUE_ZERO_MAX
+
+
+@pytest.mark.parametrize("rest", [0.3, HAND_REST_TORQUE, MAX_NULLABLE_PRELOAD])
+@pytest.mark.parametrize("sign", [1.0, -1.0])
+def test_torque_zero_pulls_a_sustained_hand_rest_inside_the_deadzone(rest, sign):
+  zero = SteeringTorqueZero()
+  for _ in range(int(SETTLING_SECONDS / DT_LAT_CTRL)):
+    corrected = zero.update(sign * rest, True)
+  assert abs(corrected) <= STEER_OVERRIDE_MIN_TORQUE
+
+
+@pytest.mark.parametrize("sign", [1.0, -1.0])
+def test_a_settled_hand_rest_at_the_nullable_limit_produces_no_override(sign):
+  blend = TorqueBlendController()
+  _drive(blend, sign * MAX_NULLABLE_PRELOAD, ZERO_WEIGHT_SPEED, seconds=SETTLING_SECONDS)
+  assert abs(_override(blend)) == pytest.approx(0.0, abs=1e-6)
+
+
+def test_override_unwinds_once_the_driver_releases():
+  blend = TorqueBlendController()
+  _drive(blend, 2.0, FULL_WEIGHT_SPEED, seconds=10.0)
+  assert abs(_override(blend)) > 1.0
+  _drive(blend, 0.0, FULL_WEIGHT_SPEED, seconds=20.0)
+  assert _override(blend) == pytest.approx(0.0, abs=1e-6)
+  assert blend.override_angle_accu == pytest.approx(0.0, abs=1e-6)
+
+
+def test_torque_zero_passes_a_step_through_untouched():
+  zero = SteeringTorqueZero()
+  assert zero.update(2.0, True) == pytest.approx(2.0, abs=1e-3)
+
+
+def test_torque_zero_is_bounded():
+  zero = SteeringTorqueZero()
+  for _ in range(int(SETTLING_SECONDS / DT_LAT_CTRL)):
+    zero.update(10.0, True)
+  assert zero.update(0.0, False) == pytest.approx(-STEER_OVERRIDE_TORQUE_ZERO_MAX)
+
+
+def test_torque_zero_holds_while_not_learning():
+  zero = SteeringTorqueZero()
+  zero.update(1.0, False)
+  assert zero.update(1.0, False) == pytest.approx(1.0)
+
+
+def test_sustained_hand_rest_stops_steering_the_car():
+  blend = TorqueBlendController()
+  _drive(blend, HAND_REST_TORQUE, FULL_WEIGHT_SPEED, seconds=1.0)
+  early = abs(_override(blend))
+  _drive(blend, HAND_REST_TORQUE, FULL_WEIGHT_SPEED, seconds=SETTLING_SECONDS)
+  assert early > 0.1
+  assert abs(_override(blend)) < 0.1 * early
+
+
+def test_a_deliberate_push_still_overrides_after_the_zero_has_settled():
+  blend = TorqueBlendController()
+  _drive(blend, HAND_REST_TORQUE, FULL_WEIGHT_SPEED, seconds=SETTLING_SECONDS)
+  _drive(blend, HAND_REST_TORQUE + 1.5, FULL_WEIGHT_SPEED, seconds=1.0)
+  assert abs(_override(blend)) > 1.0
+
+
+def test_accumulator_cannot_charge_where_its_weight_is_zero():
+  blend = TorqueBlendController()
+  _drive(blend, 2.0, ZERO_WEIGHT_SPEED, seconds=30.0)
+  assert blend.override_angle_accu == pytest.approx(0.0, abs=1e-6)
+
+
+def test_accumulator_drains_once_the_car_passes_the_crossover_speed():
+  blend = TorqueBlendController()
+  _drive(blend, 2.5, FULL_WEIGHT_SPEED, seconds=10.0)
+  assert abs(blend.override_angle_accu) > 1.0
+  _drive(blend, 2.5, ZERO_WEIGHT_SPEED, seconds=5.0)
+  assert blend.override_angle_accu == pytest.approx(0.0, abs=1e-6)
+
+
+def test_low_speed_override_can_exceed_the_direct_term_authority():
+  blend = TorqueBlendController()
+  _drive(blend, 2.5, FULL_WEIGHT_SPEED, seconds=60.0)
+  authority = calc_override_angle_limited(STEER_OVERRIDE_TORQUE_RANGE, FULL_WEIGHT_SPEED, VM, STEER_OVERRIDE_MAX_LAT_ACCEL)
+  assert abs(blend.override_angle_accu) > authority
+
+
+def test_a_sustained_low_speed_push_reaches_a_large_override():
+  blend = TorqueBlendController()
+  _drive(blend, 2.5, FULL_WEIGHT_SPEED, seconds=10.0)
+  assert abs(_override(blend)) > 20.0
+
+
+@pytest.mark.parametrize("v_ego", [3.0, 5.0, FULL_WEIGHT_SPEED, 12.0])
+def test_override_stays_inside_the_max_lat_accel_envelope_plus_the_direct_term(v_ego):
+  blend = TorqueBlendController()
+  _drive(blend, 2.5, v_ego, seconds=60.0)
+  envelope = get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, v_ego, VM)
+  direct_authority = calc_override_angle_limited(STEER_OVERRIDE_TORQUE_RANGE, v_ego, VM, STEER_OVERRIDE_MAX_LAT_ACCEL)
+  assert abs(_override(blend)) <= envelope + direct_authority
+
+
+@pytest.mark.parametrize("v_ego", [3.0, 5.0, FULL_WEIGHT_SPEED, 12.0])
+def test_a_pinned_push_cannot_run_the_contribution_away(v_ego):
+  blend = TorqueBlendController()
+  _drive(blend, 2.5, v_ego, seconds=130.0)
+  envelope = get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, v_ego, VM)
+  capability = calc_override_angle_limited(STEER_OVERRIDE_TORQUE_RANGE, v_ego, VM, STEER_OVERRIDE_MAX_LAT_ACCEL) / envelope
+  assert abs(blend.override_angle_accu) * (1.0 - capability) <= envelope + 1e-6
+
+
+def test_the_envelope_opens_up_as_speed_drops():
+  low = get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, 3.0, VM)
+  high = get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, 12.0, VM)
+  assert low > 10 * high
+
+
+def test_relative_weight_is_zero_above_the_direct_capability_crossover():
+  capability = (calc_override_angle_limited(STEER_OVERRIDE_TORQUE_RANGE, ZERO_WEIGHT_SPEED, VM, STEER_OVERRIDE_MAX_LAT_ACCEL) /
+                get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, ZERO_WEIGHT_SPEED, VM))
+  assert capability == pytest.approx(1.0)
+
+
+HEAVY_REST = 0.80
+
+
+@pytest.mark.parametrize("sign", [1.0, -1.0])
+def test_the_zero_nulls_a_hand_rest_heavier_than_the_deadzone(sign):
+  assert HEAVY_REST > 2 * STEER_OVERRIDE_MIN_TORQUE
+  blend = TorqueBlendController()
+  _drive(blend, sign * HEAVY_REST, FULL_WEIGHT_SPEED, seconds=SETTLING_SECONDS)
+  assert abs(_override(blend)) == pytest.approx(0.0, abs=1e-6)
+
+
+LIGHT_PUSH = 0.45
+
+
+@pytest.mark.parametrize("v_ego", [FULL_WEIGHT_SPEED, 17.0])
+def test_a_light_push_overrides_without_needing_the_old_half_newton(v_ego):
+  assert STEER_OVERRIDE_MIN_TORQUE < LIGHT_PUSH < 0.5
+  blend = TorqueBlendController()
+  _drive(blend, LIGHT_PUSH, v_ego, seconds=5.0)
+  assert abs(_override(blend)) > 0.2
+
+
+def test_torque_below_the_deadzone_never_overrides():
+  blend = TorqueBlendController()
+  _drive(blend, STEER_OVERRIDE_MIN_TORQUE * 0.5, FULL_WEIGHT_SPEED, seconds=5.0)
+  assert abs(_override(blend)) == pytest.approx(0.0, abs=1e-6)
+
+
+def test_coop_disabled_leaves_the_command_untouched():
+  blend = TorqueBlendController()
+  angle = 5.0
+  out = _drive(blend, 2.0, FULL_WEIGHT_SPEED, seconds=5.0, angle=angle, cp_iq=COOP_OFF)
+  assert out == pytest.approx(angle, abs=1e-6)
+  assert blend.override_angle_accu == pytest.approx(0.0)
--- a/artifacts/package_sources/iqdbc/iqdbc/lvbs/car/tesla/torque_blend.py
+++ b/artifacts/package_sources/iqdbc/iqdbc/lvbs/car/tesla/torque_blend.py
@@ -21,7 +21,7 @@ class TorqueBlendParams(CarControllerParams):
 STEERING_DEG_PHASE_LEAD_COEFF = 8.0

 # angle override # todo implement steering torque inertia compensation to increase gains
-STEER_OVERRIDE_MIN_TORQUE = 0.5 # Nm - based on typical steering bias + noise
+STEER_OVERRIDE_MIN_TORQUE = 0.35 # Nm - only noise now, SteeringTorqueZero removes the bias this used to cover
 STEER_OVERRIDE_MAX_TORQUE = 2.5 # Nm max torque before EPS disengages, LKAS takes over at 1.8Nm
 STEER_OVERRIDE_MAX_LAT_ACCEL = 1.5 # m/s^2 - determines angle rate - speed dependent - similar to Tesla comfort steering mode
 STEER_OVERRIDE_LAT_ACCEL_GAIN_LIMIT = 10 # deg/Nm stability and smoothness for angle control  # todo this could be increased after solving feedback stability
@@ -33,6 +33,9 @@ STEER_OVERRIDE_MAX_LAT_JERK_CENTERING = TorqueBlendParams.ANGLE_LIMITS.MAX_LATER
 STEER_OVERRIDE_LAT_JERK_GAIN_LIMIT = 100 # deg/s/Nm - should be less than CarControllerParams.ANGLE_LIMITS.MAX_ANGLE_RATE / DT_CTRL / STEER_OVERRIDE_TORQUE_RANGE
 STEER_OVERRIDE_TORQUE_RANGE = STEER_OVERRIDE_MAX_TORQUE - STEER_OVERRIDE_MIN_TORQUE

+STEER_OVERRIDE_TORQUE_ZERO_TAU = 60.0
+STEER_OVERRIDE_TORQUE_ZERO_MAX = 0.5 # Nm - sized to the observed hand rest and sensor bias, not to the deadzone
+
 # model fighting mitigation
 STEER_DESIRED_LIMITER_ALLOW_SPEED = 6.0 # m/s - below this speed the desired angle limiter is active
 STEER_DESIRED_LIMITER_ACCEL = 100 # deg/s^2 when override angle ramp is active
@@ -96,6 +99,20 @@ def calc_override_angle_delta_limited(torque: float, vEgo: float, VM: VehicleMod
  return apply_bounds(override_angle_rate * DT_LAT_CTRL, TorqueBlendParams.ANGLE_LIMITS.MAX_ANGLE_RATE)


+class SteeringTorqueZero:
+  def __init__(self):
+    self._zero = 0.0
+
+  def reset(self) -> None:
+    self._zero = 0.0
+
+  def update(self, torque: float, learning: bool) -> float:
+    if learning:
+      self._zero += (torque - self._zero) * (DT_LAT_CTRL / STEER_OVERRIDE_TORQUE_ZERO_TAU)
+      self._zero = apply_bounds(self._zero, STEER_OVERRIDE_TORQUE_ZERO_MAX)
+    return torque - self._zero
+
+
 class SteerRateLimiter:
  """Handles rate limiting of steering angle changes with a configurable rate."""
  def __init__(self):
@@ -169,6 +186,7 @@ class TorqueBlendController:
    self.resume_rate_limiter_delta = SteerRateLimiter()
    self.resume_rate_limiter = SteerRateLimiter()
    self.override_accel_rate_limiter = SteerAccelLimiter()
+    self.torque_zero = SteeringTorqueZero()
    self.debug_angle_desired_limited = 0

  def apply_override_angle_direct(self, lat_active: bool, driverTorque: float, vEgo: float, VM: VehicleModel) -> float:
@@ -238,16 +256,25 @@ class TorqueBlendController:
    if not lat_active:
      return 0

+    override_envelope = get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, vEgo, VM)
    # calculate capability of direct angle override (fully active above ~36kph)
-    direct_override_capability = (calc_override_angle_limited(STEER_OVERRIDE_TORQUE_RANGE, vEgo, VM, STEER_OVERRIDE_MAX_LAT_ACCEL) /
-                   get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, vEgo, VM))
+    direct_override_capability = calc_override_angle_limited(STEER_OVERRIDE_TORQUE_RANGE, vEgo, VM,
+                                                            STEER_OVERRIDE_MAX_LAT_ACCEL) / override_envelope

    angle_override_direct = self.apply_override_angle_direct(lat_active, driverTorque, vEgo, VM)
    relative_weight = 1.0 - direct_override_capability
-    angle_override_relative = self.apply_override_angle_relative(lat_active, driverTorque, vEgo, VM,
-                                                                 unwind_weight=relative_weight)
+    if relative_weight > 0.0:
+      self.apply_override_angle_relative(lat_active, driverTorque, vEgo, VM, unwind_weight=relative_weight)
+      self.override_angle_accu = apply_bounds(self.override_angle_accu, override_envelope / relative_weight)
+    else:
+      self.center_override_angle_accu(vEgo, VM)

-    return angle_override_direct * direct_override_capability + angle_override_relative * relative_weight
+    return angle_override_direct * direct_override_capability + self.override_angle_accu * relative_weight
+
+  def center_override_angle_accu(self, vEgo: float, VM: VehicleModel) -> None:
+    centering_delta = calc_override_angle_delta_limited(STEER_OVERRIDE_TORQUE_RANGE, vEgo, VM,
+                                                       STEER_OVERRIDE_MAX_LAT_JERK_CENTERING)
+    self.override_angle_accu -= apply_bounds(self.override_angle_accu, centering_delta)

  def overriding_steer_desired_accel_limit(self, lat_active: bool, apply_angle: float, vEgo: float, steeringTorque: float) -> float:
    """
@@ -302,7 +329,8 @@ class TorqueBlendController:
      # apply_angle = self.overriding_steer_desired_accel_limit(lat_active, apply_angle, CS.out.vEgo, CS.out.steeringTorque)
      self.debug_angle_desired_limited = apply_angle #! debug

-      apply_angle += self.apply_override_angle_combined(lat_active, CS.out.steeringTorque, CS.out.vEgo, VM)
+      driver_torque = self.torque_zero.update(CS.out.steeringTorque, lat_active)
+      apply_angle += self.apply_override_angle_combined(lat_active, driver_torque, CS.out.vEgo, VM)

    # final rate limit - matching panda safety
    self.coop_apply_angle_last = apply_angle
--- a/artifacts/package_sources/panda/board/drivers/can_common.h
+++ b/artifacts/package_sources/panda/board/drivers/can_common.h
@@ -191,6 +191,10 @@ void ignition_can_hook(CANPacket_t *msg) {
    static int toyota_gear = TOYOTA_GEAR_P;
    static int toyota_hybrid_gear = TOYOTA_HYBRID_GEAR_P;
    static bool toyota_hybrid_gear_seen = false;
+    static bool vw_meb_seen = false;
+    static bool vw_meb_getriebe_out_of_p = false;
+    static bool vw_meb_gateway_out_of_p = false;
+    static int prev_counter_vw_meb = -1;

    // GM exception
    if ((msg->addr == 0x1F1U) && (len == 8)) {
@@ -293,6 +297,30 @@ void ignition_can_hook(CANPacket_t *msg) {
      }
    }

+    if ((msg->addr == 0xADU) && (len == 8)) {
+      int fahrstufe = (msg->data[5] >> 2) & 0xFU;
+      vw_meb_getriebe_out_of_p = (fahrstufe >= 6) && (fahrstufe <= 14);
+    }
+
+    if ((msg->addr == 0x3DCU) && (len == 8)) {
+      int fahrstufe = msg->data[5] & 0xFU;
+      vw_meb_gateway_out_of_p = (fahrstufe >= 6) && (fahrstufe <= 14);
+    }
+
+    if ((msg->addr == 0x13DU) && (len == 32)) {
+      vw_meb_seen = true;
+    }
+
+    if ((msg->addr == 0x3C0U) && (len == 4) && vw_meb_seen) {
+      int counter = msg->data[1] & 0xFU;
+      if ((counter == ((prev_counter_vw_meb + 1) % 16)) && (prev_counter_vw_meb != -1)) {
+        bool vw_meb_out_of_park = vw_meb_getriebe_out_of_p || vw_meb_gateway_out_of_p;
+        ignition_can = (((msg->data[2] >> 1) & 1U) != 0U) && vw_meb_out_of_park;
+        ignition_can_cnt = 0U;
+        ignition_can_gates_line = true;
+      }
+      prev_counter_vw_meb = counter;
+    }

  }
 }
--- a/iqpilot/common/steer_delay.py
+++ b/iqpilot/common/steer_delay.py
@@ -6,6 +6,7 @@ live estimator learned, or the driver's fixed software delay — gated by the
 "IQLiveSteerDelay" param. The pick is mirrored into "IQSteerDelayCache" so consumers that do
 not subscribe to lateralDelay can still read the current value.
 """
+from iqpilot.cereal import car
 from iqpilot.common.params import Params

 _ENABLE_KEY = "IQLiveSteerDelay"
@@ -13,13 +14,32 @@ _FIXED_KEY = "IQSoftwareSteerDelay"
 _CACHE_KEY = "IQSteerDelayCache"


+def fixed_steer_delay(params, stock_delay):
+  """The rack's own delay plus the driver's IQSoftwareSteerDelay offset, as the UI reports it."""
+  return stock_delay + float(params.get(_FIXED_KEY, return_default=True))
+
+
 def resolve_steer_delay(params, stock_delay):
-  """Learned lateral delay while live-learning is enabled, otherwise the stock delay."""
+  """Learned lateral delay while live-learning is enabled, otherwise the driver's fixed delay."""
  if not params.get_bool(_ENABLE_KEY):
-    return stock_delay
+    return fixed_steer_delay(params, stock_delay)
  return float(params.get(_CACHE_KEY, return_default=True))


+def lateral_action_delay(params, car_params, live_delay):
+  """Delay the lateral path should be planned against.
+
+  Angle cars honour the IQLiveSteerDelay toggle so that with live learning off the
+  estimate never reaches the path: lagd cross-correlates against localizer lateral
+  accel, so it reports whole-vehicle response (~0.36 s measured on VW MQB, 0.44 s on
+  Tesla) where the lookahead wants actuator delay (~0.10 s). Torque cars keep the
+  live estimate.
+  """
+  if car_params.steerControlType == car.CarParams.SteerControlType.angle:
+    return resolve_steer_delay(params, car_params.steerActuatorDelay)
+  return live_delay
+
+
 def cached_steer_delay():
  """Last value SteerDelayPublisher mirrored into the param — usable without a
  lateralDelay subscription (e.g. at process startup)."""
@@ -34,10 +54,7 @@ class SteerDelayPublisher:
    self._params = Params()
    self._actuator_delay = car_params.steerActuatorDelay

-  def _fixed_delay(self):
-    return self._actuator_delay + self._params.get(_FIXED_KEY, return_default=True)
-
  def update(self, lag_msg):
    live = self._params.get_bool(_ENABLE_KEY)
-    value = lag_msg.lateralDelay.lateralDelay if live else self._fixed_delay()
+    value = lag_msg.lateralDelay.lateralDelay if live else fixed_steer_delay(self._params, self._actuator_delay)
    self._params.put_nonblocking(_CACHE_KEY, value)
--- a/iqpilot/common/tests/test_steer_delay.py
+++ b/iqpilot/common/tests/test_steer_delay.py
@@ -0,0 +1,91 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import time
+
+import pytest
+
+import iqpilot.cereal.messaging as messaging
+from iqpilot.cereal import car
+from iqpilot.common.params import Params
+from iqpilot.common.steer_delay import (
+  SteerDelayPublisher,
+  cached_steer_delay,
+  fixed_steer_delay,
+  lateral_action_delay,
+  resolve_steer_delay,
+)
+
+ANGLE = car.CarParams.SteerControlType.angle
+TORQUE = car.CarParams.SteerControlType.torque
+
+LIVE_DELAY = 0.4387
+RACK_DELAY = 0.10
+OFFSET = 0.05
+
+
+@pytest.fixture
+def params(tmp_path, monkeypatch):
+  monkeypatch.setenv("PARAMS_ROOT", str(tmp_path))
+  p = Params()
+  p.put("IQSteerDelayCache", LIVE_DELAY)
+  p.put("IQSoftwareSteerDelay", OFFSET)
+  return p
+
+
+def _car_params(steer_control_type):
+  cp = car.CarParams.new_message()
+  cp.steerControlType = steer_control_type
+  cp.steerActuatorDelay = RACK_DELAY
+  return cp
+
+
+def _lateral_delay_msg(value):
+  msg = messaging.new_message("lateralDelay")
+  msg.lateralDelay.lateralDelay = value
+  return msg.as_reader()
+
+
+def test_params_fixture_is_isolated_from_the_real_device(params, tmp_path):
+  assert str(tmp_path) in params.get_param_path("")
+
+
+@pytest.mark.parametrize("live_enabled", [True, False])
+def test_torque_cars_always_use_live_delay(params, live_enabled):
+  params.put_bool("IQLiveSteerDelay", live_enabled)
+  assert lateral_action_delay(params, _car_params(TORQUE), LIVE_DELAY) == pytest.approx(LIVE_DELAY)
+
+
+def test_angle_cars_ignore_live_delay_when_self_tuning_is_off(params):
+  params.put_bool("IQLiveSteerDelay", False)
+  delay = lateral_action_delay(params, _car_params(ANGLE), LIVE_DELAY)
+  assert delay == pytest.approx(RACK_DELAY + OFFSET)
+  assert delay != pytest.approx(LIVE_DELAY)
+
+
+def test_angle_cars_use_cached_delay_when_self_tuning_is_on(params):
+  params.put_bool("IQLiveSteerDelay", True)
+  assert lateral_action_delay(params, _car_params(ANGLE), LIVE_DELAY) == pytest.approx(LIVE_DELAY)
+
+
+@pytest.mark.parametrize("offset", [0.05, 0.20, 0.50])
+def test_manual_offset_reaches_the_path_and_matches_what_the_ui_reports(params, offset):
+  params.put_bool("IQLiveSteerDelay", False)
+  params.put("IQSoftwareSteerDelay", offset)
+  ui_total = RACK_DELAY + offset
+  assert fixed_steer_delay(params, RACK_DELAY) == pytest.approx(ui_total)
+  assert lateral_action_delay(params, _car_params(ANGLE), LIVE_DELAY) == pytest.approx(ui_total)
+
+
+@pytest.mark.parametrize("live_enabled", [False, True])
+def test_publisher_writes_the_value_the_resolver_reads(params, live_enabled):
+  params.put_bool("IQLiveSteerDelay", live_enabled)
+  params.put("IQSteerDelayCache", -1.0)
+  SteerDelayPublisher(_car_params(ANGLE)).update(_lateral_delay_msg(LIVE_DELAY))
+
+  expected = LIVE_DELAY if live_enabled else RACK_DELAY + OFFSET
+  deadline = time.monotonic() + 5.0
+  while cached_steer_delay() != pytest.approx(expected) and time.monotonic() < deadline:
+    time.sleep(0.01)
+  assert cached_steer_delay() == pytest.approx(expected)
+  assert resolve_steer_delay(params, RACK_DELAY) == pytest.approx(expected)
--- a/iqpilot/selfdrive/controls/controlsd.py
+++ b/iqpilot/selfdrive/controls/controlsd.py
@@ -13,7 +13,7 @@ from iqpilot.common.swaglog import cloudlog

 from iqdbc.car.car_helpers import interfaces
 from iqdbc.car.vehicle_model import VehicleModel
-from iqpilot.common.steer_delay import resolve_steer_delay
+from iqpilot.common.steer_delay import lateral_action_delay
 from iqpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from iqpilot.selfdrive.controls.lib.curvature_lookahead import get_lookahead_curvature
 from iqpilot.selfdrive.controls.lib.latcontrol import LatControl
@@ -227,15 +227,7 @@ class Controls(IQControlsLayer):

    lat_accel_override = bool(CS.gasPressed) or bool(self.sm['iqState'].aol.active)
    self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll, lat_accel_override)
-    # ALC (angle control) only: honour IQLiveSteerDelay so that with live learning off, lagd's
-    # estimate never reaches the controls loop and CP.steerActuatorDelay is used instead. lagd
-    # cross-correlates against localizer lateral accel, so it reports whole-vehicle response
-    # (~0.36 s measured on VW MQB) where the lookahead wants actuator delay (~0.10 s).
-    # Torque cars keep their existing path.
-    if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-      lat_delay = resolve_steer_delay(self.params, self.CP.steerActuatorDelay) + LAT_SMOOTH_SECONDS
-    else:
-      lat_delay = self.sm["lateralDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+    lat_delay = lateral_action_delay(self.params, self.CP, self.sm["lateralDelay"].lateralDelay) + LAT_SMOOTH_SECONDS
    lookahead_curvature = None
    if not self.sm.valid['lateralManeuverPlan']:
      lookahead_curvature = get_lookahead_curvature(model_v2, CS.vEgo, lat_delay)
--- a/iqpilot/selfdrive/controls/iq_controls_layer.py
+++ b/iqpilot/selfdrive/controls/iq_controls_layer.py
@@ -14,7 +14,6 @@ from iqdbc.car import structs
 from iqpilot.common.constants import CV
 from iqpilot.common.params import Params
 from iqpilot.common.swaglog import cloudlog
-from iqpilot.common.steer_delay import resolve_steer_delay
 from iqpilot.selfdrive.car.enhanced_stock_longitudinal_control import build_iq_control_params_from_plan
 from iqpilot.selfdrive.iqmodeld.models.inference_state import InferenceStateBase
 from iqpilot.selfdrive.controls.lib.helpers.blinker_pause import IQSignalPauseController
@@ -60,7 +59,7 @@ class IQControlsLayer(InferenceStateBase):
      return
    self.blinker_pause_lateral.get_params()
    if self.CP.lateralTuning.which() == 'torque':
-      self.lat_delay = resolve_steer_delay(self.params, sm["lateralDelay"].lateralDelay)
+      self.lat_delay = sm["lateralDelay"].lateralDelay
    self._sync_set_speed = self._want_set_speed_to_limit()
    self.radar_manager.read_params()
    self._next_param_refresh = now
--- a/iqpilot/selfdrive/iqmodeld/daemon.py
+++ b/iqpilot/selfdrive/iqmodeld/daemon.py
@@ -32,7 +32,7 @@ from iqpilot.selfdrive.controls.lib.drive_helpers import (
 from iqpilot.selfdrive.locationd.calibration_helpers import get_calibrated_rpy
 from iqpilot.system import sentry

-from iqpilot.common.steer_delay import resolve_steer_delay
+from iqpilot.common.steer_delay import lateral_action_delay
 from iqpilot.selfdrive.iqmodeld.models.helpers import get_active_bundle
 from iqpilot.selfdrive.iqmodeld.models.inference_state import InferenceStateBase
 from iqpilot.selfdrive.iqmodeld.models.runners.model_runner import get_model_runner
@@ -510,7 +510,7 @@ class InferenceDaemon:
  def _refresh_tunables(self, tick: int) -> None:
    if tick % 60 != 0:
      return
-    self._runtime.lat_delay = resolve_steer_delay(self._params, self._sub["lateralDelay"].lateralDelay)
+    self._runtime.lat_delay = lateral_action_delay(self._params, self._car_params, self._sub["lateralDelay"].lateralDelay)
    self._runtime.PLANPLUS_CONTROL = self._params.get("PlanplusControl", return_default=True)
    self._runtime.model_smoothing_max_extra_sec = _model_lat_smooth_max_sec(self._params)
    self._warps.set_offset(self._params.get("CameraOffset", return_default=True))
--- a/iqpilot/selfdrive/iqmodeld/models/runners/tinygrad/fused_runner.py
+++ b/iqpilot/selfdrive/iqmodeld/models/runners/tinygrad/fused_runner.py
@@ -112,13 +112,26 @@ class TinygradFusedRunner(ModelRunner):
        }
        # shapes must match the captured run_policy JIT inputs
        on_shapes = self._on_meta['input_shapes']
+        captured = self._run_policy.captured
+        jit_shapes = {
+            name: tuple(int(s) for s in view.shape)
+            for name, (view, _vars, _dtype, _device) in zip(captured.expected_names, captured.expected_input_info)
+        }
+
+        def policy_input_shape(name):
+            shape = on_shapes.get(name, jit_shapes.get(name))
+            if shape is None:
+                raise ValueError(f"fused pkl declares no shape for policy input {name}")
+            return shape
+
        self._npy_buffers = {
            'desire':             np.zeros(dp[2], dtype=np.float32),
-            'traffic_convention': np.zeros(on_shapes['traffic_convention'], dtype=np.float32),
-            'action_t':           np.zeros(on_shapes['action_t'], dtype=np.float32),
+            'traffic_convention': np.zeros(policy_input_shape('traffic_convention'), dtype=np.float32),
            'tfm':                np.zeros((3, 3), dtype=np.float32),
            'big_tfm':            np.zeros((3, 3), dtype=np.float32),
        }
+        if 'action_t' in jit_shapes:
+            self._npy_buffers['action_t'] = np.zeros(policy_input_shape('action_t'), dtype=np.float32)
        self._cam_resolution = (cam_w, cam_h)

    def run_fused(self, bufs: dict, transforms: dict[str, np.ndarray], numpy_inputs: NumpyDict) -> NumpyDict:
@@ -134,7 +147,7 @@ class TinygradFusedRunner(ModelRunner):
            self._npy_buffers['desire'][:] = numpy_inputs[desire_key]
        if 'traffic_convention' in numpy_inputs:
            self._npy_buffers['traffic_convention'][:] = numpy_inputs['traffic_convention']
-        if 'action_t' in numpy_inputs:
+        if 'action_t' in numpy_inputs and 'action_t' in self._npy_buffers:
            self._npy_buffers['action_t'][:] = numpy_inputs['action_t']
        self._npy_buffers['tfm'][:] = transforms['img']
        self._npy_buffers['big_tfm'][:] = transforms['big_img']
@@ -149,9 +162,12 @@ class TinygradFusedRunner(ModelRunner):
        img, big_img = warp_jit(img_q=self._queues['img_q'], big_img_q=self._queues['big_img_q'],
                                tfm=npy('tfm'), big_tfm=npy('big_tfm'), frame=frame, big_frame=big_frame)

-        vision_out_t, on_out_t, off_out_t = self._run_policy(
+        policy_inputs = dict(
            img=img, big_img=big_img, feat_q=self._queues['feat_q'], desire_q=self._queues['desire_q'],
-            desire=npy('desire'), traffic_convention=npy('traffic_convention'), action_t=npy('action_t'))
+            desire=npy('desire'), traffic_convention=npy('traffic_convention'))
+        if 'action_t' in self._npy_buffers:
+            policy_inputs['action_t'] = npy('action_t')
+        vision_out_t, on_out_t, off_out_t = self._run_policy(**policy_inputs)

        # parse each model's output on its own sliced dict; parsing a merged dict
        # would run parse_dynamic_outputs twice and double-parse plan/lead
--- a/iqpilot/selfdrive/iqmodeld/tests/test_fused_runner_guards.py
+++ b/iqpilot/selfdrive/iqmodeld/tests/test_fused_runner_guards.py
@@ -0,0 +1,128 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+"""
+from __future__ import annotations
+
+import pickle
+from dataclasses import dataclass
+
+import numpy as np
+import pytest
+
+from iqpilot.selfdrive.iqmodeld.models.runners import model_runner as model_runner_mod
+from iqpilot.selfdrive.iqmodeld.models.runners.model_runner import ModelType
+from iqpilot.selfdrive.iqmodeld.models.runners.tinygrad import fused_runner as fused_mod
+
+
+class _View:
+  def __init__(self, shape):
+    self.shape = shape
+
+
+class _Captured:
+  def __init__(self, expected_names, expected_input_info):
+    self.expected_names = expected_names
+    self.expected_input_info = expected_input_info
+
+
+class _FakeJit:
+  def __init__(self, expected_names, expected_input_info):
+    self.captured = _Captured(expected_names, expected_input_info)
+
+  def __call__(self, **kwargs):
+    raise AssertionError("policy jit should not run in this test")
+
+
+class _FakeTensor:
+  def __init__(self, arr, device=None):
+    self.shape = tuple(np.asarray(arr).shape)
+
+  def contiguous(self):
+    return self
+
+  def realize(self):
+    return self
+
+
+class _FakeDevice:
+  DEFAULT = "FAKE"
+
+
+@dataclass
+class _Type:
+  raw: int
+
+
+@dataclass
+class _Artifact:
+  fileName: str
+
+
+class _Model:
+  def __init__(self, file_name):
+    self.type = _Type(ModelType.vision)
+    self.artifact = _Artifact(file_name)
+    self.metadata = None
+
+
+class _Bundle:
+  def __init__(self, file_name):
+    self.models = [_Model(file_name)]
+    self.is20hz = True
+
+
+POLICY_INPUTS = ["action_t", "big_img", "desire", "desire_q", "feat_q", "img", "traffic_convention"]
+POLICY_SHAPES = {
+  "action_t": (1, 2), "big_img": (1, 12, 128, 256), "desire": (1, 8), "desire_q": (1, 100, 8),
+  "feat_q": (1, 99, 512), "img": (1, 12, 128, 256), "traffic_convention": (1, 2),
+}
+
+
+def _write_fused_pkl(path, policy_inputs):
+  info = [(_View(POLICY_SHAPES[n]), (), None, "NPY") for n in policy_inputs]
+  role_meta = {
+    "input_shapes": {"desire_pulse": (1, 100, 8), "traffic_convention": (1, 2), "features_buffer": (1, 99, 512)},
+    "output_slices": {},
+  }
+  blob = {
+    "metadata": {
+      "vision": {"input_shapes": {"img": (1, 12, 128, 256), "big_img": (1, 12, 128, 256)}, "output_slices": {}},
+      "on_policy": role_meta,
+      "off_policy": role_meta,
+    },
+    "run_policy": _FakeJit(policy_inputs, info),
+    "frame_skip": 4,
+    (1928, 1208): _FakeJit(["frame"], [(_View((1,)), (), None, "NPY")]),
+  }
+  with open(path, "wb") as f:
+    pickle.dump(blob, f)
+
+
+@pytest.fixture
+def fused_runner(tmp_path, monkeypatch):
+  def _build(policy_inputs):
+    name = "driving_fused_test.pkl"
+    _write_fused_pkl(tmp_path / name, policy_inputs)
+    monkeypatch.setattr(model_runner_mod, "_fetch_bundle", lambda params=None: _Bundle(name))
+    monkeypatch.setattr(fused_mod, "CUSTOM_MODEL_PATH", str(tmp_path))
+    monkeypatch.setattr(fused_mod, "_tinygrad_imports", lambda: (_FakeTensor, _FakeDevice))
+    return fused_mod.TinygradFusedRunner()
+  return _build
+
+
+def test_action_t_allocated_when_only_the_jit_declares_it(fused_runner):
+  runner = fused_runner(POLICY_INPUTS)
+  assert "action_t" not in runner._on_meta["input_shapes"]
+
+  runner._ensure_queues(1928, 1208)
+
+  assert runner._npy_buffers["action_t"].shape == POLICY_SHAPES["action_t"]
+  assert runner._npy_buffers["traffic_convention"].shape == POLICY_SHAPES["traffic_convention"]
+
+
+def test_action_t_absent_when_the_jit_does_not_take_it(fused_runner):
+  runner = fused_runner([n for n in POLICY_INPUTS if n != "action_t"])
+
+  runner._ensure_queues(1928, 1208)
+
+  assert "action_t" not in runner._npy_buffers
--- a/iqpilot/selfdrive/iqmodeld/tests/test_lat_delay_source.py
+++ b/iqpilot/selfdrive/iqmodeld/tests/test_lat_delay_source.py
@@ -0,0 +1,72 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from types import SimpleNamespace
+
+import pytest
+
+from iqpilot.cereal import car
+from iqpilot.common.params import Params
+from iqpilot.selfdrive.iqmodeld.daemon import InferenceDaemon
+
+LIVE_DELAY = 0.4387
+RACK_DELAY = 0.10
+OFFSET = 0.05
+
+
+@pytest.fixture
+def params(tmp_path, monkeypatch):
+  monkeypatch.setenv("PARAMS_ROOT", str(tmp_path))
+  p = Params()
+  p.put("IQSteerDelayCache", LIVE_DELAY)
+  p.put("IQSoftwareSteerDelay", OFFSET)
+  p.put_bool("ModelSmoothingEnabled", False)
+  p.put("ModelLatSmoothSec", 0)
+  p.put("PlanplusControl", 1.0)
+  p.put("CameraOffset", 0.0)
+  return p
+
+
+def _daemon(params, steer_control_type):
+  car_params = car.CarParams.new_message()
+  car_params.steerControlType = steer_control_type
+  car_params.steerActuatorDelay = RACK_DELAY
+  return SimpleNamespace(
+    _params=params,
+    _car_params=car_params,
+    _sub={"lateralDelay": SimpleNamespace(lateralDelay=LIVE_DELAY)},
+    _runtime=SimpleNamespace(lat_delay=None, PLANPLUS_CONTROL=None, model_smoothing_max_extra_sec=None),
+    _warps=SimpleNamespace(set_offset=lambda _: None),
+  )
+
+
+@pytest.mark.parametrize("live_enabled, expected", [(False, RACK_DELAY + OFFSET), (True, LIVE_DELAY)])
+def test_angle_cars_honour_the_self_tuning_toggle(params, live_enabled, expected):
+  params.put_bool("IQLiveSteerDelay", live_enabled)
+  daemon = _daemon(params, car.CarParams.SteerControlType.angle)
+  InferenceDaemon._refresh_tunables(daemon, 0)
+  assert daemon._runtime.lat_delay == pytest.approx(expected)
+
+
+def test_angle_cars_never_plan_against_the_live_estimate_when_disabled(params):
+  params.put_bool("IQLiveSteerDelay", False)
+  daemon = _daemon(params, car.CarParams.SteerControlType.angle)
+  InferenceDaemon._refresh_tunables(daemon, 0)
+  assert daemon._runtime.lat_delay != pytest.approx(LIVE_DELAY)
+
+
+@pytest.mark.parametrize("live_enabled", [True, False])
+def test_torque_cars_keep_the_live_estimate(params, live_enabled):
+  params.put_bool("IQLiveSteerDelay", live_enabled)
+  daemon = _daemon(params, car.CarParams.SteerControlType.torque)
+  InferenceDaemon._refresh_tunables(daemon, 0)
+  assert daemon._runtime.lat_delay == pytest.approx(LIVE_DELAY)
+
+
+def test_refresh_is_throttled_to_every_sixtieth_tick(params):
+  params.put_bool("IQLiveSteerDelay", False)
+  daemon = _daemon(params, car.CarParams.SteerControlType.angle)
+  InferenceDaemon._refresh_tunables(daemon, 1)
+  assert daemon._runtime.lat_delay is None
+  InferenceDaemon._refresh_tunables(daemon, 60)
+  assert daemon._runtime.lat_delay == pytest.approx(RACK_DELAY + OFFSET)
--- a/iqpilot/selfdrive/locationd/torqued.py
+++ b/iqpilot/selfdrive/locationd/torqued.py
@@ -10,7 +10,6 @@ from iqpilot.common.realtime import DT_MDL
 from iqpilot.common.filter_simple import FirstOrderFilter
 from iqpilot.common.swaglog import cloudlog
 from iqpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
-from iqpilot.common.steer_delay import resolve_steer_delay

 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -97,7 +96,6 @@ class TorqueEstimator(ParameterEstimator):

    # try to restore cached params
    params = Params()
-    self.params = params
    params_cache = params.get("CarParamsPrevRoute")
    torque_cache = params.get("LiveTorqueParameters")
    if params_cache is not None and torque_cache is not None:
@@ -179,7 +177,7 @@ class TorqueEstimator(ParameterEstimator):
    elif which == "extrinsicsCalibration":
      self.calibrator.feed_live_calib(msg)
    elif which == "lateralDelay":
-      self.lag = resolve_steer_delay(self.params, msg.lateralDelay)
+      self.lag = msg.lateralDelay
    # calculate lateral accel from past steering torque
    elif which == "deviceMotion":
      if len(self.raw_points['steer_torque']) == self.hist_len:
--- a/iqpilot/system/hardware/tici/agnos.json
+++ b/iqpilot/system/hardware/tici/agnos.json
@@ -1,7 +1,7 @@
 [
  {
    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
    "size": 3282256,
@@ -12,7 +12,7 @@
  },
  {
    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
    "size": 98124,
@@ -23,7 +23,7 @@
  },
  {
    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
    "size": 274432,
@@ -34,7 +34,7 @@
  },
  {
    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
    "size": 184364,
@@ -45,7 +45,7 @@
  },
  {
    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
    "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
    "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
    "size": 40336,
@@ -56,7 +56,7 @@
  },
  {
    "name": "splash",
-    "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/splash-993d7fb8ddfa552bd7f60e8a78b8735efbc716a0978682ed3c92fa0d694528d2.img.xz",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/splash-993d7fb8ddfa552bd7f60e8a78b8735efbc716a0978682ed3c92fa0d694528d2.img.xz",
    "hash": "993d7fb8ddfa552bd7f60e8a78b8735efbc716a0978682ed3c92fa0d694528d2",
    "hash_raw": "993d7fb8ddfa552bd7f60e8a78b8735efbc716a0978682ed3c92fa0d694528d2",
    "size": 34226176,
@@ -67,7 +67,7 @@
  },
  {
    "name": "boot",
-    "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/boot-aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb.img.xz",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/boot-aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb.img.xz",
    "hash": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
    "hash_raw": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
    "size": 18216960,
@@ -78,18 +78,14 @@
  },
  {
    "name": "system",
-    "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-37572981c7592d5dd20136e13bed9a9fae84ffc75b9b24da55704bbce7da239b.img.xz",
-    "hash": "a7bec67c4fef85c66736e74ee8828cbef320f3729f72fee6bea4c97f23dc8b70",
-    "hash_raw": "37572981c7592d5dd20136e13bed9a9fae84ffc75b9b24da55704bbce7da239b",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/system-44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa.img.xz",
+    "hash": "44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa",
+    "hash_raw": "44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa",
    "size": 6291456000,
-    "sparse": true,
+    "sparse": false,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "f678dbc0ffb12e49e6b561ce58d84d3831dc7b7a595909f653b330ecec9c2c65",
-    "alt": {
-      "hash": "37572981c7592d5dd20136e13bed9a9fae84ffc75b9b24da55704bbce7da239b",
-      "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-37572981c7592d5dd20136e13bed9a9fae84ffc75b9b24da55704bbce7da239b.img",
-      "size": 6291456000
-    }
+    "ondevice_hash": "44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa",
+    "url_parts": 10
  }
 ]
--- a/iqpilot/system/hardware/tici/agnos.json.sig
+++ b/iqpilot/system/hardware/tici/agnos.json.sig
@@ -1 +1 @@
-yxhDP2ieuolHlsCLh4gOQFHFGBIZ5TcewAlO8qo+F3L13hp4K0N5vniN5ZsC7K7Lg6z4TtehTycFb5o4IIIRBA==
+IE+GKvyryxGDx98VImAM+UaqOPcs+mzWtlVs7r0h4Va2Tb9glgFBFlpaB3Btll+QI5zoo/tMlDrj463kaYQQBg==
--- a/iqpilot/system/hardware/tici/agnos.py
+++ b/iqpilot/system/hardware/tici/agnos.py
@@ -39,6 +39,81 @@ IQPILOT_MANIFEST_PUBLIC_KEY = bytes.fromhex("40ae3f81b77506ecc4982a1ca37ba1d6f87

 AGNOS_MANIFEST_FILE = "system/hardware/tici/agnos.json"

+LFS_POINTER_MAGIC = b"version https://git-lfs"
+
+
+def _image_auth_module():
+  """Return the git_remote auth module, or None. On IQ.OS this comes through the
+  verified loader; on stock AGNOS (an AGNOS->IQ.OS upgrade) that loader is not
+  present, but the compiled bundle IS in every checkout -- import it directly."""
+  try:
+    from iqpilot.system.proprietary_runtime._verified_import import import_verified_module
+    return import_verified_module("iqpilot_updater_private", "iqpilot_private.updater.git_remote")
+  except Exception:
+    pass
+  try:
+    root = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..", "..", ".."))
+    bundle_python = os.path.join(root, "artifacts", "iqpilot_updater_private", "python")
+    if os.path.isdir(bundle_python):
+      if bundle_python not in sys.path:
+        sys.path.insert(0, bundle_python)
+      import importlib
+      return importlib.import_module("iqpilot_private.updater.git_remote")
+  except Exception:
+    pass
+  return None
+
+
+def _download_headers(url: str) -> dict:
+  mod = _image_auth_module()
+  if mod is not None:
+    try:
+      headers = mod.os_image_headers(url)
+      if headers:
+        return headers
+    except Exception:
+      pass
+  try:
+    from iqpilot.common.git_creds import get_credentials
+    creds = get_credentials()
+    if creds and all(creds) and "/iq.lvbs/iqos" in url.lower():
+      return {"Authorization": "Basic " + base64.b64encode(f"{creds[0]}:{creds[1]}".encode()).decode()}
+  except Exception:
+    pass
+  return {}
+
+
+def _open_image_response(url: str) -> requests.Response:
+  """GET an image URL; when the server answers with a Git-LFS pointer (the image
+  repo stores partitions as LFS objects and its raw endpoint does not resolve
+  them), follow it through the LFS batch API using the same credentials."""
+  auth = _download_headers(url)
+  req = requests.get(url, stream=True, headers={'Accept-Encoding': None, **auth}, timeout=60)
+  req.raise_for_status()
+  if int(req.headers.get('content-length') or 0) >= 1024:
+    return req
+
+  body = req.content
+  if not body.startswith(LFS_POINTER_MAGIC):
+    raise requests.exceptions.InvalidURL(f"unexpected tiny response ({len(body)} bytes) for {url}")
+  meta = dict(line.split(" ", 1) for line in body.decode().strip().splitlines() if " " in line)
+  oid = meta["oid"].split(":", 1)[1]
+  size = int(meta["size"])
+
+  batch_url = url.split("/raw/", 1)[0] + ".git/info/lfs/objects/batch"
+  batch = requests.post(batch_url,
+                        data=json.dumps({"operation": "download", "transfers": ["basic"],
+                                         "objects": [{"oid": oid, "size": size}]}),
+                        headers={"Content-Type": "application/vnd.git-lfs+json",
+                                 "Accept": "application/vnd.git-lfs+json", **auth},
+                        timeout=60)
+  batch.raise_for_status()
+  action = batch.json()["objects"][0]["actions"]["download"]
+  req = requests.get(action["href"], stream=True,
+                     headers={'Accept-Encoding': None, **action.get("header", {})}, timeout=60)
+  req.raise_for_status()
+  return req
+

 def verify_manifest_signature(manifest_path: str) -> None:
  sig_path = f"{manifest_path}.sig"
@@ -54,11 +129,34 @@ def verify_manifest_signature(manifest_path: str) -> None:
  public_key.verify(signature, digest)


+class _ChainedParts:
+  """Response-like wrapper streaming N sequential part files as one body.
+
+  The image host caps single uploads well below the system image size, so big
+  images are stored as `<name>.pNN` LFS objects; devices re-join them here."""
+
+  def __init__(self, urls: list[str]) -> None:
+    self.urls = urls
+    self.req: requests.Response | None = None
+
+  def raise_for_status(self) -> None:
+    if self.req is not None:
+      self.req.raise_for_status()
+
+  def iter_content(self, chunk_size: int) -> Generator[bytes, None, None]:
+    for u in self.urls:
+      self.req = _open_image_response(u)
+      yield from self.req.iter_content(chunk_size=chunk_size)
+
+
 class StreamingDecompressor:
-  def __init__(self, url: str) -> None:
+  def __init__(self, url: str, parts: int = 0) -> None:
    self.buf = b""

-    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60)
+    if parts > 1:
+      self.req = _ChainedParts([f"{url}.p{i:02d}" for i in range(parts)])
+    else:
+      self.req = _open_image_response(url)
    self.it = self.req.iter_content(chunk_size=1024 * 1024)
    self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
    self.eof = False
@@ -196,7 +294,7 @@ def clear_partition_hash(target_slot_number: int, partition: dict) -> None:

 def extract_compressed_image(target_slot_number: int, partition: dict, cloudlog):
  path = get_partition_path(target_slot_number, partition)
-  downloader = StreamingDecompressor(partition['url'])
+  downloader = StreamingDecompressor(partition['url'], parts=int(partition.get('url_parts', 0)))

  with open(path, 'wb+') as out:
    # Flash partition
--- a/iqpilot/system/hardware/tici/agnos_tici_15_1.json
+++ b/iqpilot/system/hardware/tici/agnos_tici_15_1.json
@@ -1,7 +1,7 @@
 [
  {
    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
    "size": 3282256,
@@ -12,7 +12,7 @@
  },
  {
    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
    "size": 98124,
@@ -23,7 +23,7 @@
  },
  {
    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
    "size": 274432,
@@ -34,7 +34,7 @@
  },
  {
    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
    "size": 184364,
@@ -45,7 +45,7 @@
  },
  {
    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
    "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
    "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
    "size": 40336,
@@ -56,7 +56,7 @@
  },
  {
    "name": "boot",
-    "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/boot-aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb.img.xz",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/boot-aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb.img.xz",
    "hash": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
    "hash_raw": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
    "size": 18216960,
@@ -67,18 +67,14 @@
  },
  {
    "name": "system",
-    "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-37572981c7592d5dd20136e13bed9a9fae84ffc75b9b24da55704bbce7da239b.img.xz",
-    "hash": "a7bec67c4fef85c66736e74ee8828cbef320f3729f72fee6bea4c97f23dc8b70",
-    "hash_raw": "37572981c7592d5dd20136e13bed9a9fae84ffc75b9b24da55704bbce7da239b",
+    "url": "https://gitlvb.teallvbs.xyz/IQ.Lvbs/iqos/raw/branch/master/system-44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa.img.xz",
+    "hash": "44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa",
+    "hash_raw": "44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa",
    "size": 6291456000,
-    "sparse": true,
+    "sparse": false,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "f678dbc0ffb12e49e6b561ce58d84d3831dc7b7a595909f653b330ecec9c2c65",
-    "alt": {
-      "hash": "37572981c7592d5dd20136e13bed9a9fae84ffc75b9b24da55704bbce7da239b",
-      "url": "https://sdn.konn3kt.com/agnos/16-iqlvbs/system-37572981c7592d5dd20136e13bed9a9fae84ffc75b9b24da55704bbce7da239b.img",
-      "size": 6291456000
-    }
+    "ondevice_hash": "44b251e1b3d8cd9243d5c79287d2a0e74b5063d3e21b24192b1293430a3471aa",
+    "url_parts": 10
  }
 ]
--- a/iqpilot/system/hardware/tici/agnos_tici_15_1.json.sig
+++ b/iqpilot/system/hardware/tici/agnos_tici_15_1.json.sig
@@ -1 +1 @@
-PvU/rNvS8JnrZabBbjgss1lyLIlUGXdEOsguFCMK22aY2p/MlzzzpI2+3Wz7tCNcPT+FEbLR1SrskEjTBvKsCQ==
+9LDZugtT9q8jFab1Gs8qTmfJukKU8NzDAuT9VakInuOUHCCnN5SDFI/Ew/6C/+3SAlcROgZON/4J8FQyQGV+Dg==
--- a/iqpilot/system/hardware/tici/tests/test_agnos_updater.py
+++ b/iqpilot/system/hardware/tici/tests/test_agnos_updater.py
@@ -3,18 +3,42 @@ import os
 import requests

 TEST_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)))
-MANIFEST = os.path.join(TEST_DIR, "../agnos.json")
+MANIFESTS = [
+  os.path.join(TEST_DIR, "../agnos.json"),
+  os.path.join(TEST_DIR, "../agnos_tici_15_1.json"),
+]
+
+IMAGE_HOST = "gitlvb.teallvbs.xyz"
+
+# image payloads are xz streams; the repo raw endpoint would serve an LFS pointer
+XZ_MAGIC = b"\xfd7zXZ\x00"
+LFS_POINTER_MAGIC = b"version https://git-lfs"


 class TestAgnosUpdater:

  def test_manifest(self):
-    with open(MANIFEST) as f:
-      m = json.load(f)
+    for manifest in MANIFESTS:
+      with open(manifest) as f:
+        m = json.load(f)

-    for img in m:
-      r = requests.head(img['url'], timeout=10)
-      r.raise_for_status()
-      assert r.headers['Content-Type'].split(';', 1)[0] in {"application/x-xz", "application/octet-stream"}
-      if not img['sparse']:
-        assert img['hash'] == img['hash_raw']
+      for img in m:
+        assert img['url'].split('/')[2] == IMAGE_HOST
+        if not img['sparse']:
+          assert img['hash'] == img['hash_raw']
+
+        # contract: images are distributed from a private repo, so an anonymous
+        # request must never receive image content. The denial status varies by
+        # route (404 via the CDN, catch-all HTML page when resolved directly to
+        # the origin), so assert on the payload, not the status code. trust_env
+        # off: requests otherwise picks up ~/.netrc (CI runners have gitlvb
+        # credentials), silently authenticating the "anonymous" probe.
+        s = requests.Session()
+        s.trust_env = False
+        r = s.get(img['url'], timeout=10, stream=True,
+                  headers={"User-Agent": "IQOS-Updater"})
+        if r.status_code in (401, 403, 404):
+          continue
+        head = next(r.iter_content(chunk_size=256), b"") or b""
+        assert not head.startswith(XZ_MAGIC), f"{img['name']}: anonymous request served image content"
+        assert not head.startswith(LFS_POINTER_MAGIC), f"{img['name']}: anonymous request served the LFS pointer"
--- a/iqpilot/system/manager/manager.py
+++ b/iqpilot/system/manager/manager.py
@@ -158,6 +158,10 @@ def manager_thread() -> None:
    started = sm['deviceState'].started

    if started and not started_prev:
+      try:
+        HARDWARE.set_power_save(False)
+      except Exception:
+        cloudlog.exception("failed to leave power save on onroad transition")
      params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
    elif not started and started_prev:
      params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
--- a/iqpilot/system/manager/process_config.py
+++ b/iqpilot/system/manager/process_config.py
@@ -195,7 +195,7 @@ procs = [
 procs += [
  # Models
  BundleProcess("models_manager", "iqpilot_model_selector_private", "iqpilot_private.models.manager", and_(only_offroad, not_low_power)),
-  NativeProcess("iqmodeld", "iqpilot/selfdrive/iqmodeld", ["./iqmodeld"], and_(only_onroad, is_tinygrad_model)),
+  NativeProcess("iqmodeld", "iqpilot/selfdrive/iqmodeld", ["./iqmodeld"], and_(only_onroad, is_tinygrad_model), restart_if_crash=True),

  BundleProcess("backup_manager_k3", "iqpilot_hephaestusd_private", "iqpilot_private.konn3kt.backups.backup_orchestrator",
                and_(only_offroad, hephaestus_ready_shim, not_low_power)),
--- a/iqpilot/system/ui/lib/os_update.py
+++ b/iqpilot/system/ui/lib/os_update.py
@@ -42,10 +42,19 @@ def required_agnos_version(install_path: str) -> str:
  return ""


+def _hardware_dir(install_path: str) -> str:
+  # the nested layout keeps the package at <install>/iqpilot/; older checkouts had
+  # system/ at the top level. Accept either so callers can pass the install root.
+  nested = os.path.join(install_path, "iqpilot", "system", "hardware", "tici")
+  if os.path.isdir(nested):
+    return nested
+  return os.path.join(install_path, "system", "hardware", "tici")
+
+
 def agnos_manifest_path(install_path: str, device_type: str) -> str:
  # comma 3 (tici) uses a different AGNOS manifest than comma 3x (tizi) / comma 4 (mici).
  fname = "agnos_tici_15_1.json" if device_type == "tici" else "agnos.json"
-  return os.path.join(install_path, "system", "hardware", "tici", fname)
+  return os.path.join(_hardware_dir(install_path), fname)


 def os_update_needed(install_path: str) -> tuple[bool, str, str]:
@@ -64,7 +73,7 @@ def run_agnos_update(install_path: str, device_type: str, progress_cb: ProgressC
  via progress_cb(percent, note). Returns True on success. The device must be
  rebooted by the caller afterward for the new slot to take effect."""
  manifest = agnos_manifest_path(install_path, device_type)
-  agnos_py = os.path.join(install_path, "system", "hardware", "tici", "agnos.py")
+  agnos_py = os.path.join(_hardware_dir(install_path), "agnos.py")
  if not os.path.isfile(manifest) or not os.path.isfile(agnos_py):
    progress_cb(0, "manifest_missing")
    return False