IQ.Pilot Release Commit @ 24db8ae

iqpilot/selfdrive/controls/controlsd.py

@@ -48,6 +48,7 @@ CTRL_FLAG_MISSING_INPUTS = 1 << 0
 CTRL_FLAG_RK_OVERRUN = 1 << 1
 SMOOTH_STEER_W0 = 46.0
 SMOOTH_STEER_ZETA = 1.0
+SMOOTH_STEER_HOLD_FRAMES = 50
 LAT_SMOOTH_SECONDS = 0.0
 
 
@@ -100,6 +101,7 @@ class Controls(IQControlsLayer):
     self.VM = VehicleModel(self.CP)
 
     self.smooth_steer = PT2Filter(SMOOTH_STEER_W0, SMOOTH_STEER_ZETA, DT_CTRL)
+    self.smooth_steer_inactive_frames = SMOOTH_STEER_HOLD_FRAMES
     self.is_curvature_car = self.CP.steerControlType == car.CarParams.SteerControlType.curvatureDEPRECATED
     if self.is_curvature_car and self.params.get("EnableSmoothSteer") is None:
       self.params.put_bool("EnableSmoothSteer", True)
@@ -235,7 +237,8 @@ class Controls(IQControlsLayer):
     else:
       new_desired_curvature = model_v2.action.desiredCurvature
 
-    if self.is_curvature_car and self.enable_smooth_steer and CC.latActive:
+    self.smooth_steer_inactive_frames = 0 if CC.latActive else self.smooth_steer_inactive_frames + 1
+    if self.is_curvature_car and self.enable_smooth_steer and self.smooth_steer_inactive_frames < SMOOTH_STEER_HOLD_FRAMES:
       new_desired_curvature = self.smooth_steer.update(new_desired_curvature)
     else:
       self.smooth_steer.reset(new_desired_curvature)

iqpilot/selfdrive/monitoring/dmonitoringd.py

@@ -13,7 +13,8 @@ def dmonitoringd_thread():
   sm = messaging.SubMaster(['driverStateV2', 'extrinsicsCalibration', 'carState', 'selfdriveState', 'modelV2',
                             'carControl'], poll='driverStateV2')
 
-  DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
+  DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"),
+                        force_rhd=params.get_bool("ForceRHDForBSM"))
   demo_mode=False
 
   # 20Hz <- dmonitoringmodeld
@@ -36,10 +37,11 @@ def dmonitoringd_thread():
     # load live always-on toggle
     if sm['driverStateV2'].frameId % 40 == 1:
       DM.always_on = params.get_bool("AlwaysOnDM")
+      DM.force_rhd = params.get_bool("ForceRHDForBSM")
       demo_mode = params.get_bool("IsDriverViewEnabled")
 
     # save rhd virtual toggle every 5 mins
-    if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
+    if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and not DM.force_rhd and
      DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
      DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
       params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)

iqpilot/selfdrive/monitoring/helpers.py

@@ -145,7 +145,7 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
 
 
 class DriverMonitoring:
-  def __init__(self, rhd_saved=False, settings=None, always_on=False):
+  def __init__(self, rhd_saved=False, settings=None, always_on=False, force_rhd=False):
     # init policy settings
     self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
 
@@ -158,6 +158,7 @@ class DriverMonitoring:
     self.blink = DriverBlink()
 
     self.always_on = always_on
+    self.force_rhd = force_rhd
     self.distracted_types = []
     self.driver_distracted = False
     self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
@@ -268,18 +269,20 @@ class DriverMonitoring:
   def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False):
     rhd_pred = driver_state.wheelOnRightProb
     # calibrates only when there's movement and either face detected
-    if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
+    if not self.force_rhd and car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
                                           driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
       self.wheelpos.prob_offseter.push_and_update(rhd_pred)
 
     self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
 
-    if self.wheelpos.prob_calibrated or demo_mode:
+    if self.force_rhd:
+      self.wheel_on_right = True
+    elif self.wheelpos.prob_calibrated or demo_mode:
       self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
     else:
       self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
     # make sure no switching when engaged
-    if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right and not demo_mode:
+    if not self.force_rhd and op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right and not demo_mode:
       self.wheel_on_right = self.wheel_on_right_last
     driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
     if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,

iqpilot/selfdrive/monitoring/test_monitoring.py

@@ -247,6 +247,22 @@ class TestMonitoring:
     dm._update_states(ds, [0., 0., 0.], 20.0, True, False)
     assert dm.wheel_on_right
 
+  def test_state_update_forces_rhd(self):
+    dm = DriverMonitoring(force_rhd=True)
+    dm.wheel_on_right_last = False
+    dm.wheelpos.prob_offseter.filtered_stat.M = 0.0
+    dm.wheelpos.prob_offseter.filtered_stat.n = dm.settings._WHEELPOS_FILTER_MIN_COUNT + 1
+    ds = log.DriverStateV2.new_message()
+    ds.wheelOnRightProb = 0.0
+    set_driver_data(ds.rightDriverData)
+
+    dm._update_states(ds, [0., 0., 0.], 20.0, True, False)
+
+    assert dm.wheel_on_right
+    assert dm.face_detected
+    assert dm.wheelpos.prob_offseter.filtered_stat.n == dm.settings._WHEELPOS_FILTER_MIN_COUNT + 1
+    assert dm.get_state_packet().driverMonitoringState.isRHD
+
   def test_state_update_rejects_incomplete_driver_data(self):
     dm = DriverMonitoring()
     dm._update_states(log.DriverStateV2.new_message(), [0., 0., 0.], 0.0, False, False)

iqpilot/selfdrive/ui/mici/layouts/settings/device.py

@@ -93,6 +93,33 @@ class EngagedConfirmationButton(BigButton):
     self.set_click_callback(lambda: _engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red))
 
 
+class ForceOffroadButton(BigButton):
+  def __init__(self):
+    self._offroad_icon = gui_app.texture("icons/iq/square-parking.png", 64, 64)
+    super().__init__(tr("force\noffroad"), "", self._offroad_icon)
+    self.set_press_effect_enabled(False)
+    self._label.set_font_size(40)
+    self._label.set_line_height(0.95)
+    self.set_click_callback(self._on_click)
+    self._sync_from_params()
+
+  def _forced(self) -> bool:
+    return ui_state.params.get_bool("IQAlwaysOffroad")
+
+  def _on_click(self):
+    forced = self._forced()
+    action = tr("disable force offroad") if forced else tr("force offroad")
+    _engaged_confirmation_click(lambda: ui_state.params.put_bool("IQAlwaysOffroad", not forced),
+                                action, self._offroad_icon, exit_on_confirm=False)
+
+  def _sync_from_params(self):
+    self.set_text(tr("disable\nforce offroad") if self._forced() else tr("force\noffroad"))
+
+  def _update_state(self):
+    super()._update_state()
+    self._sync_from_params()
+
+
 class DeviceInfoLayoutMici(Widget):
   def __init__(self):
     super().__init__()
@@ -226,6 +253,7 @@ class DeviceLayoutMici(NavScroller):
       terms_btn,
       regulatory_btn,
       reset_calibration_btn,
+      ForceOffroadButton(),
       reboot_btn,
       self._power_off_btn,
     ])

iqpilot/selfdrive/ui/translations/app.pot

@@ -1830,6 +1830,31 @@ msgstr ""
 msgid "power off"
 msgstr ""
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr ""
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr ""
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+
 #: openpilot/selfdrive/ui/mici/layouts/onboarding.py:100
 #, python-brace-format
 msgid ""

iqpilot/selfdrive/ui/translations/app_ar.po

@@ -3386,6 +3386,20 @@ msgstr "الجهاز"
 msgid "device ID"
 msgstr "معرّف الجهاز"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"إلغاء\n"
+"فرض التوقف"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "إلغاء فرض وضع التوقف"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3543,11 +3557,26 @@ msgstr "لـ \"{}\""
 msgid "for private branch updates"
 msgstr "لتحديثات الفروع الخاصة"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"فرض\n"
+"وضع التوقف"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "فرض واجهة mici"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "فرض وضع التوقف"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_de.po

@@ -3453,6 +3453,20 @@ msgstr "gerät"
 msgid "device ID"
 msgstr "geräte-ID"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"parkmodus\n"
+"freigeben"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "parkmodus freigeben"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3610,11 +3624,26 @@ msgstr "für „{}“"
 msgid "for private branch updates"
 msgstr "für Updates aus privaten Branches"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"parkmodus\n"
+"erzwingen"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "mici-oberfläche erzwingen"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "parkmodus erzwingen"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_en.po

@@ -3411,6 +3411,20 @@ msgstr "device"
 msgid "device ID"
 msgstr "device ID"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"disable\n"
+"force offroad"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "disable force offroad"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3568,11 +3582,26 @@ msgstr "for \"{}\""
 msgid "for private branch updates"
 msgstr "for private branch updates"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"force\n"
+"offroad"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "force mici UI"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "force offroad"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_es.po

@@ -3458,6 +3458,20 @@ msgstr "dispositivo"
 msgid "device ID"
 msgstr "ID del dispositivo"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"salir de\n"
+"aparcado"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "desactivar aparcado forzado"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3615,11 +3629,26 @@ msgstr "para «{}»"
 msgid "for private branch updates"
 msgstr "para actualizaciones de ramas privadas"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"forzar\n"
+"aparcado"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "forzar interfaz mici"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "forzar aparcado"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_fr.po

@@ -3475,6 +3475,20 @@ msgstr "appareil"
 msgid "device ID"
 msgstr "ID appareil"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"quitter\n"
+"hors route"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "désactiver hors route forcé"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3632,11 +3646,26 @@ msgstr "pour \"{}\""
 msgid "for private branch updates"
 msgstr "pour les mises à jour de branches privées"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"forcer\n"
+"hors route"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "forcer l'interface mici"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "forcer hors route"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_ja.po

@@ -3281,6 +3281,20 @@ msgstr "デバイス"
 msgid "device ID"
 msgstr "デバイスID"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"強制オフロード\n"
+"解除"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "強制オフロードを解除"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3438,11 +3452,26 @@ msgstr "「{}」向け"
 msgid "for private branch updates"
 msgstr "プライベートブランチの更新用"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"強制\n"
+"オフロード"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "mici UIを強制"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "強制オフロード"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_ko.po

@@ -3303,6 +3303,20 @@ msgstr "기기"
 msgid "device ID"
 msgstr "기기 ID"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"강제 오프로드\n"
+"해제"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "강제 오프로드 해제"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3460,11 +3474,26 @@ msgstr "\"{}\"용"
 msgid "for private branch updates"
 msgstr "비공개 브랜치 업데이트용"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"강제\n"
+"오프로드"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "mici UI 강제"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "강제 오프로드"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_pl.po

@@ -3450,6 +3450,20 @@ msgstr "urządzenie"
 msgid "device ID"
 msgstr "ID urządzenia"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"wyłącz\n"
+"wymuszenie"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "wyłącz wymuszony postój"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3607,11 +3621,26 @@ msgstr "dla „{}”"
 msgid "for private branch updates"
 msgstr "do aktualizacji z prywatnych gałęzi"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"wymuś\n"
+"postój"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "wymuś interfejs mici"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "wymuś postój"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_pt-BR.po

@@ -3452,6 +3452,20 @@ msgstr "dispositivo"
 msgid "device ID"
 msgstr "ID do dispositivo"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"sair de\n"
+"estacionado"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "desativar estacionado forçado"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3609,11 +3623,26 @@ msgstr "para \"{}\""
 msgid "for private branch updates"
 msgstr "para atualizações de branches privadas"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"forçar\n"
+"estacionado"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "forçar interface mici"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "forçar estacionado"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_th.po

@@ -3392,6 +3392,20 @@ msgstr "อุปกรณ์"
 msgid "device ID"
 msgstr "รหัสอุปกรณ์"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"ปิดโหมด\n"
+"จอดบังคับ"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "ปิดโหมดจอดแบบบังคับ"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3549,11 +3563,26 @@ msgstr "สำหรับ \"{}\""
 msgid "for private branch updates"
 msgstr "สำหรับการอัปเดตจากสาขาส่วนตัว"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"บังคับ\n"
+"โหมดจอด"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "บังคับใช้อินเทอร์เฟซ mici"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "บังคับโหมดจอด"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_tr.po

@@ -3427,6 +3427,20 @@ msgstr "cihaz"
 msgid "device ID"
 msgstr "cihaz kimliği"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"zorlamayı\n"
+"kapat"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "park zorlamasını kapat"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3584,11 +3598,26 @@ msgstr "\"{}\" için"
 msgid "for private branch updates"
 msgstr "özel dal güncellemeleri için"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"park modunu\n"
+"zorla"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "mici arayüzünü zorla"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "park modunu zorla"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_uk.po

@@ -3436,6 +3436,20 @@ msgstr "пристрій"
 msgid "device ID"
 msgstr "ID пристрою"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"вимкнути\n"
+"примус"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "вимкнути примусовий офроуд"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3593,11 +3607,26 @@ msgstr "для \"{}\""
 msgid "for private branch updates"
 msgstr "для оновлень із приватних гілок"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"офроуд\n"
+"примусово"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "примусовий інтерфейс mici"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "примусовий офроуд"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_zh-CHS.po

@@ -3260,6 +3260,20 @@ msgstr "设备"
 msgid "device ID"
 msgstr "设备 ID"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"关闭\n"
+"强制驻车"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "关闭强制驻车"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3417,11 +3431,26 @@ msgstr "用于“{}”"
 msgid "for private branch updates"
 msgstr "用于私有分支更新"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"强制\n"
+"驻车"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "强制使用 mici 界面"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "强制驻车"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/translations/app_zh-CHT.po

@@ -3262,6 +3262,20 @@ msgstr "裝置"
 msgid "device ID"
 msgstr "裝置 ID"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"disable\n"
+"force offroad"
+msgstr ""
+"關閉\n"
+"強制駐車"
+
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "disable force offroad"
+msgstr "關閉強制駐車"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:56
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:190
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py:199
@@ -3419,11 +3433,26 @@ msgstr "適用於「{}」"
 msgid "for private branch updates"
 msgstr "用於私有分支更新"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:99
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:116
+#, python-brace-format
+msgid ""
+"force\n"
+"offroad"
+msgstr ""
+"強制\n"
+"駐車"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/display.py:28
 #, python-brace-format
 msgid "force mici UI"
 msgstr "強制使用 mici 介面"
 
+#: openpilot/selfdrive/ui/mici/layouts/settings/device.py:111
+#, python-brace-format
+msgid "force offroad"
+msgstr "強制駐車"
+
 #: openpilot/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py:247
 #, python-brace-format
 msgid "forgetting..."

iqpilot/selfdrive/ui/ui.py

@@ -13,7 +13,7 @@ from iqpilot.selfdrive.ui.ui_state import ui_state
 
 _FPS_OVERRIDE = os.getenv("FPS")
 UI_OFFROAD_FPS = int(os.getenv("UI_OFFROAD_FPS", _FPS_OVERRIDE or "60"))
-UI_ONROAD_FPS = int(os.getenv("UI_ONROAD_FPS", _FPS_OVERRIDE or "20"))
+UI_ONROAD_FPS = int(os.getenv("UI_ONROAD_FPS", _FPS_OVERRIDE or "60"))
 
 
 def main():