# IQ.Pilot User Changelog ## IQ.Pilot 1.0c Changelog ### Features #### Navigate on IQ.Pilot - Added Navigate on IQ.Pilot as a complete on-device navigation experience. - Added destination search with Home, Work, and Recent shortcuts. - Added live turn-by-turn guidance with automatic rerouting after a missed turn or route deviation. - Added traffic-aware online routing with automatic traffic refresh, delay tracking, closure awareness, and fresh-route metadata. - Added AMap destination search and routing for configured mainland China devices. - Added an interactive off-road map with panning and current-location display. - Added a split on-road map view so the camera, model path, route, current position, and upcoming maneuver remain visible together. - Added route-aware longitudinal planning for turns, highway exits, and highway forks. - Added route-aware lane-change guidance for supported highway exits. - Added route-commanded automatic turn signals on supported vehicles. - Added optional exit-lane-change assistance with Blind Spot Monitoring awareness. - Improved low-speed maneuver guidance so the model keeps the requested turn path while waiting and carries it through the committed turn. - Added route cancellation and saved-destination management from the Navigate screen in the Konn3kt app. #### IQ Speed Assist - Added the new IQ Speed Assist architecture. - Added TomTom speed-limit data alongside dashboard, Mapbox, and offline OpenStreetMap sources. - Added percentage-based offset zones for low, medium, and higher speed ranges. - Added direct integration of upcoming speed limits into the longitudinal cruise envelope for earlier and smoother reactions. #### Construction Zone Assist - Added optional camera-based Construction Zone Assist. - Added road-camera detection of bright orange work-zone barrels and markers. - Added an adjustable work-zone target speed with a 60 mph default. - Added daylight, road-speed, and active-zone state checks to reduce detections from unrelated reflective objects. #### Camera Alerts - Added direct Flock/ALPR hardware detection from nearby Bluetooth and Wi-Fi radio signatures. - Added warnings for mapped speed cameras, red-light cameras, and ALPR/Flock Safety cameras. - Direct radio detection works without internet access or preexisting map data, and can warn about a nearby unit before appearing in the map database. - Added optional speed-camera slowdown using the detected camera limit and a configurable safety factor. - Added optional haptic feedback on supported Hyundai/Kia/Genesis vehicles when approaching a speed camera. #### IQ.Dynamic - Added configurable IQ.Dynamic activation for curves, low road speeds, slower or stopped lead vehicles, and model-predicted stops. - Added separate road-speed, lead-speed, and model-stop timing controls. - Added on-device IQ.Dynamic configuration by double-tapping IQ.Dynamic in the longitudinal mode selector. - Added on-road IQ longitudinal-mode cycling through the nucleus icon on BIG UI devices. - Added optional stock-radar blending on supported Volkswagen PQ vehicles for more stable highway following. - Added IQ Force Stops for model-predicted stop lights and stop signs when no lead vehicle is present. - Added adjustable minimum stop length and stopping distance. #### General Longitudinal Updates - Added end-to-end cruise convergence so the vehicle returns toward the selected cruise speed as the road opens in IQ.Pilot (E2E) mode. - Added Smooth Stops for gentler final braking at regular and model-predicted stops. - Added smoother pull-away behavior and departure chimes when a lead moves or the path opens. - Added an optional Experimental Lead MPC mode. - Added earlier reactions to upcoming curves. #### IQ Steering Assistance Behavior (SAB) - Added a distinct lateral-only engagement border separate from full lateral-and-longitudinal engagement. - Added Always-On Lateral support through compatible Hyundai LFA buttons. - Added an optional mode that pauses steering torque when the driver takes the wheel and resumes after release. #### Lane Changes - Added an optional model-based lane edge guard that blocks lane changes when a road edge is detected on the target side. #### Lateral Tuning - Added configurable steering smoothing, slew limiting, and curvature lookahead. - Improved curve entry and reduced abrupt steering changes while preserving quick avoidance responses. - Added angle-based steering and optional torque blending for Volkswagen vehicles with ALC. - Added Volkswagen PQ HCA7 steering support and live-learned curvature correction on supported MEB vehicles. #### Driving Models - Added automatic model refresh and redownload when an installed model needs an update. - Added a clear Driving Model Updating state, and engagement now waits until the selected model is ready. #### IQ eMac - Added IQ eMac for running supported big driving models on an Apple Silicon Mac over USB. - Added a Big Model selector with Off, BRH, Lebowski, and RDF choices. - Added one-time model download and compilation on the Mac, with cached models for later drives. - Added automatic USB network setup with a one-time Mac administrator prompt when required. - Added USB AMD eGPU-dock support with automatic detection and recovery tools. #### IQ eMac App - Added a native Mac app for starting, monitoring, restarting, and stopping IQ eMac. - Added live connection, model, download, compilation, inference rate, latency, and session status. - Added persistent menu-bar operation with compact live statistics. #### Home Screen and Off-Road UI - Added a new IQ.Pilot home screen with dedicated Routes, Navigation, Video, and status views. - Added a selectable home-panel widget and an expanded status bar. - Added 60 fps BIG UI presentation and improved Comma 4 visuals. - Added connected Wi-Fi, vehicle state, temperature, Konn3kt status, and installed IQ.OS version displays. - Added automatic mph or km/h selection based on the device location. - Added smoother navigation, transitions, animations, and controls. - Added Polish and expanded translations throughout the Comma 4 UI and IQ.Pilot settings. #### On-Road UI - Added a glowing orb for the primary lead vehicle. - Added live Konn3kt accent colors across borders, lane lines, controls, and sliders. - Updated the acceleration bar with IQ.Pilot's teal and pink visual style. - Added on-road longitudinal personality selection. - Added a Silent Mode bell control. - Added Night Mode for automatic display sleep after sunset. - Added a gradual volume ramp for immediate warning alerts. - Added screen recording through Konn3kt. #### Dashcam and Routes - Increased dashcam (qcam) video resolution by 5x. - Added a master dashcam control for route logging, video, and audio. - Added crash-safe recording with recovery after power loss or an interrupted route. - Added an on-device Routes screen with drive details and upload status. - Added model path, steering angle, driver-monitoring state, speed, and cruise-speed overlays to the route viewer in the Konn3kt app. #### Live View, Audio, and WebSSH - Added live on-road video over cellular/Wi-Fi with the model path overlay. - Added full-resolution HDR driver-camera video on Comma 4. - Added microphone audio and two-way voice communication through Konn3kt. - Added an on-road indicator while Live View is active. - Added road, wide, and driver-camera snapshots. - Added faster camera switching, adaptive video quality, and dual-camera picture-in-picture. - Improved Konn3kt WebSSH connection reliability. #### Konn3kt Services - Konn3kt now remains available when IQ.Pilot is stopped or cannot open its main UI. - Added remote recovery access over Wi-Fi and cellular. - Added faster reconnection after network or IP-address changes. - Added dedicated route, log, and crash-log uploading. - Added Volkswagen and Tesla odometer display. - Added encrypted device backup and restore. - Added supported Volkswagen coding, diagnostic controls, and EPS flashing through Konn3kt. #### Konn3kt Bluetooth Control - Added direct Bluetooth control from the Konn3kt app across supported IQ.OS devices. - Added Bluetooth synchronization for vehicle, display, network, navigation, and driving settings. - Added automatic discovery and pairing without manual network configuration. - Added automatic Bluetooth fallback when Wi-Fi or cellular service is unavailable. - Added setup-stage Wi-Fi configuration, channel selection, and installation control. #### Volkswagen PQ and MQB - Expanded Volkswagen PQ and MQB vehicle support. - Added Volkswagen Passat B7/NMS and SEAT Alhambra Stop-and-Go support. - Added Stop-and-Go and automatic-resume improvements across supported PQ and MQB vehicles. - Added stock-radar blending with IQ.Dynamic on supported PQ vehicles. - Added automatic PQ steering-patch detection and minimum-steering-speed handling. - Added Volkswagen PQ firmware backup, patching, programming, and recovery tools. - Added PQ and MQB steering coding and compatibility checks through Konn3kt. - Added continued PQ and MQB lateral control during cruise faults. - Added an MQB Steering Lockout toggle that reduces low-speed steering torque to prevent LKAS faults on sensitive MQB vehicles. #### Volkswagen MEB and MQBevo - Added official Volkswagen MEB and MQBevo support. - Added supported Volkswagen ID.3, ID.4, ID.5, and Golf Mk8 configurations through model year 2025. - Added platform-specific steering, zero-speed steering, and ACC display support. - Added vehicle Drive/Park state handling and reliable device wake support. #### Toyota and Lexus - Added Toyota and Lexus Stop-and-Go support with an optional compatibility mode. - Added SDSU support. - Fixed ignition handling so the device returns off-road in Park. #### Hyundai, Kia, and Genesis - Added more supported Hyundai, Kia, and Genesis variants. - Added expanded CAN-FD, HDA2, Camera SCC, radar-track, and corner-radar support. - Added Auto Cruise Control and Auto Engage options on compatible vehicles. - Added custom steering maximum and steering-rate controls. - Added lane-change-specific steering-rate controls. - Added speed-camera haptics and Always-On Lateral support through compatible LFA buttons. #### Honda, Subaru, and Tesla - Added smoother final braking on supported Honda vehicles. - Added Subaru Creep from Standstill. - Added support for additional Tesla configurations and Model Y steering firmware. - Fixed Tesla stock-DAS cancellation so cruise speed remains available for IQ.Pilot longitudinal control. - Added an optional Tesla FSD/Autosteer visualization mode while IQ.Pilot steers. #### IQ.OS - Updated device firmware to IQ.OS 4.9.7. - Added support for Comma 3, Comma 3X, Comma 4, Konik A1/M, and Mr.One C3/C3 Lite. - Added per-unit Comma 4 display calibration and HDR camera color support. - Reduced Comma 3 cold-boot time from 39 seconds to 21 seconds. - Improved USB link recovery for IQ eMac and eGPU configurations. - Improved Konik A1 audio reliability. - Added assisted GPS acquisition through Konn3kt. #### FastSleep and Power Management - Added FastSleep deep standby after the vehicle is parked. - Added faster standby when vehicle battery voltage begins to drop. - Added staged low-voltage shutdown protection. - Kept Konn3kt recovery access available while high-power IQ.Pilot services sleep. - Added immediate wake when ignition or charging is detected. #### Bluetooth Setup and Controller Support - Added zero-touch Bluetooth onboarding with Konn3kt pairing and setup progress. - Added IQ.OS update confirmation through Konn3kt. - Kept Bluetooth controls available independently from the main IQ.Pilot process. #### Network, Cellular, and eSIM - Added a new Network settings experience on Comma 3 and Comma 4. - Added a direct Wi-Fi Disconnect action. - Added automatic cellular reconnection after APN changes. - Added SIM recovery for Comma 3X devices with a worn tray-presence switch. - Added experimental eSIM setup and profile management through QR or manual activation codes. #### Device and Recovery Controls - Added Force On-Road for a temporary ten-minute diagnostic session while parked. - Added Update & Reboot on the crash and recovery screen. - Added USB Storage mode to access device storage over USB. #### Updater and Installation - Added a new IQ.Pilot and IQ.OS update workflow. - Added Predownload Only and Predownload + Preinstall modes. - Added interrupted-installation recovery. #### Reliability and Camera Fault Recovery - Added independent recovery for navigation and map services. - Added automatic wide-camera fault detection so the road and driver cameras can continue operating, with an on-road warning after fallback. - Improved calibration recovery and protected driving services from map-service communication stalls. --- ### Technical Changes - Reduced the IQ.Pilot total installation size to just 139.48 MiB. - Removed the legacy openpilot source mirror, compatibility directories, and obsolete source aliases. - Removed every Git submodule from the IQ.Pilot repository. - Updated release builds to vendor the exact pinned component sources and required LFS assets into a self-contained installation without nested Git repositories or private source URLs. - Added navigation-memory handling so important fork and exit guidance remains available when a model output briefly omits it. - Added on-device map rendering and route-state services designed specifically for IQ.Pilot. - Reduced navigation CPU, GPU, and memory overhead so the map can remain open for long drives without competing with the driving model. - Added full offline routing through a packaged Valhalla runtime. - Added offline navigation that can operate without Mapbox or an active internet connection. - Added support for keeping multiple offline regions installed simultaneously. - Added offline raster map tiles for the on-screen map, not only route calculation and road metadata. - Added separate Online On-Screen Maps and Offline On-Screen Maps controls. - Added resumable regional map downloads for unstable cellular and hotspot connections. - Added combined download progress for routing databases and rendered map tiles. - Added automatic recognition of already installed map regions. - Added automatic restoration of missing offline-map data. - Added a pinned IQ.Pilot mapd v2 fork with binary verification and automatic quarantine of incompatible mapd builds. - Added a hosted regional tile-bundle service with a secondary fallback source. - Added background tile decoding and bounded texture caching to keep map work off the UI render path. - Added automatic stock-radar set-speed and following-gap synchronization on supported Volkswagen vehicles. - Hardened Experimental Lead MPC with model-horizon validation and automatic radar-trajectory fallback when model lead data is missing, malformed, or non-finite. - Added Bluetooth-controller commands for testing or controlling Always-On Lateral in Joystick Mode. - Added the unified IQModeld runtime. - Added a native IQModeld bridge for current combined models and legacy split models. - Added fused vision-and-policy execution for supported supercombo bundles. - Added zero-copy camera-frame handling through the current tinygrad runner. - Added combined-artifact, combined-split, fused, tinygrad, and ONNX runner support under one manager. - Added signed and notarized Mac packaging with improved USB transport diagnostics. - Added stable border-crossing detection and last-known-location fallback for IQ Auto Units. - Added tappable branch information in the BIG UI header. - Fixed live language updates and several previously untranslated or malformed translations. - Added qlog-only route visualization, allowing the model path and driving telemetry to be viewed even when only a qlog and qcam are uploaded, and no rlog is available. - Hardened Qualcomm encoder polling and H.264 filtering for more reliable route recording. - Fixed upload queues that could stall behind a missing build-version file. - Fixed route-upload cache invalidation when a file is replaced at the same path, preventing stale upload state from being reused. - Added automatic LocalAPI deployment and configuration. - Fixed periodic Konn3kt disconnects caused by numeric heartbeat parameters terminating the connection writer. - Added authenticated BLE requests, replay protection, and a dedicated settings RPC dispatcher. - Added live propagation of BLE setting changes to the device UI and active IQ.Pilot services. - Added TRW450 ACC handling for the Volkswagen Passat B7/NMS. - Added MQB standstill handling for supported non-EPB ACC vehicles. - Added dedicated PQ radar engagement, cancellation, set-speed, acceleration, and following-gap management. - Added model-year ECU fingerprint checks and expanded Passat identification. - Added explicit Volkswagen car-readiness state handling. - Added on-car MLB longitudinal refinements and HCA steering-status configuration for compatible Audi and Porsche platforms. - Corrected Porsche Macan vehicle selection and Volkswagen-group settings presentation. - Added MEB camera-harness support for lateral control with stock ACC and compatible gateway-harness support for IQ.Pilot longitudinal control. - Added broader Hyundai/Kia/Genesis vehicle parameter and fingerprint diagnostics. - Added guarded Tesla vehicle-bus parsing for supported harness configurations. - Added kernel-level USB 3 logging support. - Added updated USB 3 receive equalization and VGA calibration for improved link stability. - Added 2 GB compressed zram swap for additional memory headroom. - Fixed GPS clock synchronization to interpret and apply timestamps in UTC. - Forced the Qualcomm camera BPS pipeline to its maximum clock for more consistent frame processing. - Disabled unsupported EGL zero-copy paths on Comma 4 while retaining them on compatible Comma 3 and Comma 3X hardware. - Added in-process audio-stream retries so an unavailable Konik A1 audio DSP does not crash-loop the alert service. - Added cached Konn3kt-assisted GPS data with freshness checks for faster GNSS acquisition when no local AssistNow token is configured. - Added measured-voltage power decisions while FastSleep is active. - Added an authenticated Bluetooth GATT transport and RPC dispatcher. - Added live remote CAN streaming from a device into Cabana through Konn3kt. - Updated Cabana and Jotpluggler to current upstream tool foundations while retaining Konn3kt device, route, DBC, and direct remote-stream support. - Added replay support for IQ.Pilot's crash-safe H.264 fragmented-MP4 recordings, including correct container seeking, decoder-delay handling, and multi-frame packet output. - Added a precompiled release pipeline for comma 3, comma 3X, and comma 4. - Added automatic runtime-package bootstrap, revision pinning, and credential reuse for fresh devices and updates. - Added the iq command center for setup, environment checks, builds, quality checks, package synchronization, status, branch switching, updates, service control, fast restart, and optional reboot. - Added an IQ.Pilot process layout built around independent model, navigation, map, uploader, backup, and perception services. - Added clearer on-device build, process-state, and diagnostic output. - Improved Panda SPI NACK handling for more reliable device-to-vehicle communication. - Hardened calibration by clearing invalid saved calibration, preserving stable solutions during excessive spread on supported comma 3/3X hardware, and rejecting implausible camera-height data before model or path projection. - Added validation for every public vehicle platform and route plus expanded deterministic and ARM64 process-replay coverage.