From 52f10ca29a965798dab6a43648f50e7967e1ede0 Mon Sep 17 00:00:00 2001
From: carrot <43668841+ajouatom@users.noreply.github.com>
Date: Wed, 4 Jun 2025 07:20:24 +0900
Subject: [PATCH] fix waze, add cruise button mode 3  (#180)

* enable detect redlight during regen decel..

* button mode 2 decel..

* lanemode timeadjust 0.05 -> 0.07

* limit_accel_in_turn:  unstable decel during cornering

* roadLimitSpeed from Car.

* fix roadlimitSpeed display..

* fix lanemode model condition..

* fix.. typo

* fix.

* test for SK3

* fix.. standstill

* Revert "test for SK3"

This reverts commit b7ab995c5ef2e482b65704fb18c7bc5a3bcf1171.

* fix.. loadLimitSpeed..

* fix roadSpeedLimit(hkg can)

* initial "gas" state for bump

* fix.. lane mode adjust time.. 5 -> 7 -> 6

* test lanemode (curve -> straight)

* fix..  lane

* revert

* fix. laneline curv -> straight..

* fix.. revert

* fix.. lanemode... again..

* canfd 0x1b5

* disp CarVolt

* fix..

* LatMpc Input/Output offset

* kisa waze & roadlimitspeed.

* fix..

* test

* ff

* ff

* fix..

* add roadlimitspeed offset

* fix.speed limit..

* fix.. waze

* fix.. mph

* fix.. ccnc

* fix..

* fix..

* Update carrot.cc

* fix estimate radar dt..

* fix feet...

* fix police..

* test lanemode curve to straight

* fix police..

* fix comment..

* fix curvature & no siren (#179)

* fix dos,tres siren

* fix curvature

* cruise button mode3

* add lane chane delay..

* fix.. volt display..

* fix.. roadlimit speed limitation..

* fix.. typo

* test

* fix..

* fix..

* fix.. tpms

* fix..

* fix..

* fix. tpms

* collision detect... dashcam mode...

---------

Co-authored-by: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com>
---
 common/params_keys.h                          |  11 +-
 opendbc_repo/opendbc/car/hyundai/carstate.py  |   5 +-
 .../opendbc/car/hyundai/hyundaicanfd.py       |  16 +-
 opendbc_repo/opendbc/car/hyundai/interface.py |   3 +
 opendbc_repo/opendbc/car/hyundai/values.py    |   1 +
 opendbc_repo/opendbc/car/interfaces.py        |   4 +-
 opendbc_repo/opendbc/dbc/hyundai_canfd.dbc    |   3 +-
 panda/board/boards/dos.h                      |   8 +-
 panda/board/boards/tres.h                     |   2 +-
 selfdrive/car/cruise.py                       |  18 +-
 selfdrive/carrot/carrot_man.py                | 157 ++++++++++-
 selfdrive/carrot_settings.json                | 251 +++++++++++++-----
 selfdrive/controls/controlsd.py               |  11 +-
 selfdrive/controls/lib/desire_helper.py       |   9 +-
 selfdrive/controls/lib/drive_helpers.py       |  16 +-
 selfdrive/controls/lib/lane_planner_2.py      |   2 +-
 selfdrive/ui/carrot.cc                        |  77 ++++--
 selfdrive/ui/qt/offroad/settings.cc           |   2 +
 selfdrive/ui/ui.cc                            |   1 +
 system/manager/manager.py                     |   9 +
 20 files changed, 480 insertions(+), 126 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 1c49eff..e4d258b 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -172,6 +172,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"AutoTurnMapChange", PERSISTENT },
     {"AutoNaviSpeedCtrlEnd", PERSISTENT},
     {"AutoNaviSpeedCtrlMode", PERSISTENT},
+    {"AutoRoadSpeedLimitOffset", PERSISTENT},
     {"AutoNaviSpeedBumpTime", PERSISTENT},
     {"AutoNaviSpeedBumpSpeed", PERSISTENT},
     {"AutoNaviSpeedDecelRate", PERSISTENT},
@@ -191,6 +192,11 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CruiseButtonTest2", PERSISTENT},
     {"CruiseButtonTest3", PERSISTENT},
     {"CruiseSpeedUnit", PERSISTENT},
+    {"CruiseSpeed1", PERSISTENT},
+    {"CruiseSpeed2", PERSISTENT},
+    {"CruiseSpeed3", PERSISTENT},
+    {"CruiseSpeed4", PERSISTENT},
+    {"CruiseSpeed5", PERSISTENT},
     {"PaddleMode", PERSISTENT},
     {"MyDrivingMode", PERSISTENT},
     {"MyDrivingModeAuto", PERSISTENT},
@@ -231,6 +237,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"UseLaneLineSpeedApply", PERSISTENT},
     {"AdjustLaneOffset", PERSISTENT},
     {"LaneChangeNeedTorque", PERSISTENT},
+    {"LaneChangeDelay", PERSISTENT },
     {"LaneChangeBsd", PERSISTENT},
     {"MaxAngleFrames", PERSISTENT},
     {"SoftHoldMode", PERSISTENT},
@@ -238,7 +245,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"LatMpcMotionCost", PERSISTENT},
     {"LatMpcAccelCost", PERSISTENT},
     {"LatMpcJerkCost", PERSISTENT},
-    {"LatMpcSteeringRateCost", PERSISTENT},
+    {"LatMpcSteeringRateCost", PERSISTENT },
+    {"LatMpcInputOffset", PERSISTENT},
+    {"LatMpcOutputOffset", PERSISTENT},
     {"PathOffset", PERSISTENT},
     {"LateralTorqueCustom", PERSISTENT},
     {"LateralTorqueAccelFactor", PERSISTENT},
diff --git a/opendbc_repo/opendbc/car/hyundai/carstate.py b/opendbc_repo/opendbc/car/hyundai/carstate.py
index 24d25a6..1ff9922 100644
--- a/opendbc_repo/opendbc/car/hyundai/carstate.py
+++ b/opendbc_repo/opendbc/car/hyundai/carstate.py
@@ -449,6 +449,8 @@ class CarState(CarStateBase):
       if "HDA_INFO_4A3" in cp.vl:
         self.hda_info_4a3 = copy.copy(cp.vl.get("HDA_INFO_4A3", {}))
         speedLimit = self.hda_info_4a3["SPEED_LIMIT"]
+        if not self.is_metric:
+          speedLimit = CV.MPH_TO_KPH
         ret.speedLimit = speedLimit if speedLimit < 255 else 0
         if int(self.hda_info_4a3["NEW_SIGNAL_4"]) == 17:
           speed_limit_cam = True
@@ -586,10 +588,9 @@ class CarState(CarStateBase):
         ("SCC_CONTROL", 50),
       ]
 
-    if CP.flags & HyundaiFlags.CANFD_HDA2 and CP.flags & HyundaiFlags.CAMERA_SCC:
+    if CP.extFlags & HyundaiExtFlags.CANFD_4A3:
       pt_messages += [
         ("HDA_INFO_4A3", 5),
-        #("NEW_MSG_4B4", 10),  # G80 hda2개조차량은 안나옴. 원래그런건지.. 어짜피 안쓰는데이터이니깐...
       ]
     #if CP.flags & HyundaiFlags.CANFD_HDA2 and CP.extFlags & HyundaiExtFlags.NAVI_CLUSTER.value and not (CP.extFlags & HyundaiExtFlags.SCC_BUS2.value):
     # 어떤차는 bus2에 있음, 내차는 bus0에 있는데.... 이건 옆두부와 관련이 없나?
diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
index 9d1ac2b..3fbcf82 100644
--- a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+++ b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
@@ -421,7 +421,7 @@ def forward_button_message(packer, CAN, frame, CS, cruise_button, MainMode_ACC_t
         pass
       elif LFA_trigger > 0:
         values["LFA_BTN"] = 1
-        
+
       ret.append(packer.make_can_msg(CS.cruise_btns_msg_canfd, CAN.CAM, values))
   return ret
 
@@ -509,11 +509,11 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle
           if values["ALERTS_5"] in [11] and CS.softHoldActive == 0:
             values["ALERTS_5"] = 0
 
-          curvature = {
-            i: (31 if i == -1 else 13 - abs(i + 15)) if i < 0 else 15 + i
-            for i in range(-15, 16)
-          }
-          values["LANELINE_CURVATURE"] = curvature.get(max(-15, min(round(disp_angle / 3), 15)), 14)
+          curvature = round(CS.out.steeringAngleDeg / 3)
+
+          values["LANELINE_CURVATURE"] = (min(abs(curvature), 15) + (-1 if curvature < 0 else 0)) if lat_active else 0
+          values["LANELINE_CURVATURE_DIRECTION"] = 1 if curvature < 0 and lat_active else 0
+
           if hud_control.leftLaneDepart:
             values["LANELINE_LEFT"] = 4 if (frame // 50) % 2 == 0 else 1
           else:
@@ -522,8 +522,8 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle
             values["LANELINE_RIGHT"] = 4 if (frame // 50) % 2 == 0 else 1
           else:
             values["LANELINE_RIGHT"] = 2 if hud_control.rightLaneVisible else 0
-          values["LANELINE_LEFT_POSITION"] = 15
-          values["LANELINE_RIGHT_POSITION"] = 15
+          #values["LANELINE_LEFT_POSITION"] = 15
+          #values["LANELINE_RIGHT_POSITION"] = 15
 
           values["LCA_LEFT_ARROW"] = 2 if CS.out.leftBlinker else 0
           values["LCA_RIGHT_ARROW"] = 2 if CS.out.rightBlinker else 0
diff --git a/opendbc_repo/opendbc/car/hyundai/interface.py b/opendbc_repo/opendbc/car/hyundai/interface.py
index 5a83fa9..f28b179 100644
--- a/opendbc_repo/opendbc/car/hyundai/interface.py
+++ b/opendbc_repo/opendbc/car/hyundai/interface.py
@@ -54,6 +54,9 @@ class CarInterface(CarInterfaceBase):
       if 0x105 in fingerprint[CAN.ECAN]:
         ret.flags |= HyundaiFlags.HYBRID.value
 
+      if 0x4a3 in fingerprint[CAN.ECAN]:
+        ret.extFlags |= HyundaiExtFlags.CANFD_4A3.value
+
       # detect HDA2 with ADAS Driving ECU
       if hda2:
         print("$$$CANFD HDA2")
diff --git a/opendbc_repo/opendbc/car/hyundai/values.py b/opendbc_repo/opendbc/car/hyundai/values.py
index bc1a443..bd98e43 100644
--- a/opendbc_repo/opendbc/car/hyundai/values.py
+++ b/opendbc_repo/opendbc/car/hyundai/values.py
@@ -155,6 +155,7 @@ class HyundaiExtFlags(IntFlag):
   CANFD_161 = 2 ** 11
   CRUISE_BUTTON_ALT = 2 ** 12     # for CASPER_EV
   STEER_TOUCH = 2 ** 13
+  CANFD_4A3 = 2 ** 14 
 
 class Footnote(Enum):
   CANFD = CarFootnote(
diff --git a/opendbc_repo/opendbc/car/interfaces.py b/opendbc_repo/opendbc/car/interfaces.py
index f1e2699..ef8a77a 100644
--- a/opendbc_repo/opendbc/car/interfaces.py
+++ b/opendbc_repo/opendbc/car/interfaces.py
@@ -154,8 +154,8 @@ class RadarInterfaceBase(ABC):
     self.init_done = False
 
   def estimate_dt(self, rcv_time):
-    if len(self.init_samples) > 20:
-      estimated_dt = np.mean(np.diff(self.init_samples))
+    if len(self.init_samples) > 50:
+      estimated_dt = np.mean(np.diff(self.init_samples[20:]))
       self.dt = estimated_dt
       self.init_done = True
       print(f"Estimated radar dt: {self.dt} sec")
diff --git a/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc b/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc
index 4ab37f3..30993f3 100644
--- a/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc
+++ b/opendbc_repo/opendbc/dbc/hyundai_canfd.dbc
@@ -280,7 +280,8 @@ BO_ 353 ADRV_0x161: 32 ADRV
  SG_ LANELINE_LEFT_POSITION : 84|6@1+ (1,0) [0|15] "" XXX
  SG_ LANELINE_RIGHT : 90|4@1+ (1,0) [0|15] "" XXX
  SG_ LANELINE_RIGHT_POSITION : 94|6@1+ (1,0) [0|15] "" XXX
- SG_ LANELINE_CURVATURE : 100|5@1- (1,15) [0|31] "" XXX
+ SG_ LANELINE_CURVATURE : 100|4@1+ (1,0) [0|31] "" XXX
+ SG_ LANELINE_CURVATURE_DIRECTION : 104|1@0+ (1,0) [0|1] "" XXX
  SG_ LANE_HIGHLIGHT : 105|4@1+ (1,0) [0|15] "" XXX
  SG_ LANE_HIGHLIGHT_DISTANCE : 109|11@1+ (0.1,0) [0|204.7] "m" XXX
  SG_ LANE_LEFT : 120|3@1+ (1,0) [0|7] "" XXX
diff --git a/panda/board/boards/dos.h b/panda/board/boards/dos.h
index 661f91f..47e6ce7 100644
--- a/panda/board/boards/dos.h
+++ b/panda/board/boards/dos.h
@@ -75,9 +75,9 @@ static void dos_set_fan_enabled(bool enabled){
   set_gpio_output(GPIOA, 1, enabled);
 }
 
-static void dos_set_siren(bool enabled){
-  set_gpio_output(GPIOC, 12, enabled);
-}
+//static void dos_set_siren(bool enabled){
+//  set_gpio_output(GPIOC, 12, enabled);
+//}
 
 static bool dos_read_som_gpio (void){
   return (get_gpio_input(GPIOC, 2) != 0);
@@ -147,7 +147,7 @@ board board_dos = {
   .read_current_mA = unused_read_current,
   .set_fan_enabled = dos_set_fan_enabled,
   .set_ir_power = dos_set_ir_power,
-  .set_siren = dos_set_siren,
+  .set_siren = unused_set_siren,
   .set_bootkick = dos_set_bootkick,
   .read_som_gpio = dos_read_som_gpio,
   .set_amp_enabled = unused_set_amp_enabled
diff --git a/panda/board/boards/tres.h b/panda/board/boards/tres.h
index 811314a..3e4ff32 100644
--- a/panda/board/boards/tres.h
+++ b/panda/board/boards/tres.h
@@ -166,7 +166,7 @@ board board_tres = {
   .read_current_mA = unused_read_current,
   .set_fan_enabled = tres_set_fan_enabled,
   .set_ir_power = tres_set_ir_power,
-  .set_siren = fake_siren_set,
+  .set_siren = unused_set_siren,
   .set_bootkick = tres_set_bootkick,
   .read_som_gpio = tres_read_som_gpio,
   .set_amp_enabled = unused_set_amp_enabled
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index cd77b63..0efdcbd 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -253,6 +253,12 @@ class VCruiseCarrot:
       self._cruise_button_mode = self.params.get_int("CruiseButtonMode")
       self._lfa_button_mode = self.params.get_int("LfaButtonMode")
       self.cruiseOnDist = self.params.get_float("CruiseOnDist") * 0.01
+      cruiseSpeed1 = self.params.get_float("CruiseSpeed1")
+      cruiseSpeed2 = self.params.get_float("CruiseSpeed2")
+      cruiseSpeed3 = self.params.get_float("CruiseSpeed3")
+      cruiseSpeed4 = self.params.get_float("CruiseSpeed4")
+      cruiseSpeed5 = self.params.get_float("CruiseSpeed5")
+      self._cruise_speed_table = [cruiseSpeed1, cruiseSpeed2, cruiseSpeed3, cruiseSpeed4, cruiseSpeed5]
 
   def update_v_cruise(self, CS, sm, is_metric):
     self._add_log("")
@@ -490,7 +496,7 @@ class VCruiseCarrot:
           pass
         elif not CC.enabled:
           v_cruise_kph = max(self.v_ego_kph_set, self._cruise_speed_min)
-        elif self.v_ego_kph_set > v_cruise_kph + 2 and self._cruise_button_mode in [2]:
+        elif self.v_ego_kph_set > v_cruise_kph + 2 and self._cruise_button_mode in [2, 3]:
           v_cruise_kph = max(self.v_ego_kph_set, self._cruise_speed_min)
         elif self._cruise_button_mode in [0, 1]:
           v_cruise_kph = button_kph
@@ -562,7 +568,15 @@ class VCruiseCarrot:
   #   nRoadLimitSpeed, vTurnSpeed
   #   gasPressed, brakePressed, standstill
   def _v_cruise_desired(self, CS, v_cruise_kph):
-    if v_cruise_kph < 30: #self.nRoadLimitSpeed:
+    if self._cruise_button_mode == 3:
+      for speed in self._cruise_speed_table:
+        if v_cruise_kph < speed:
+          v_cruise_kph = speed
+          break
+      else:
+        v_cruise_kph = ((v_cruise_kph // self._cruise_speed_unit) + 1) * self._cruise_speed_unit
+
+    elif v_cruise_kph < 30: #self.nRoadLimitSpeed:
       v_cruise_kph = 30 #self.nRoadLimitSpeed
     else:
       for speed in range (40, 160, self._cruise_speed_unit):
diff --git a/selfdrive/carrot/carrot_man.py b/selfdrive/carrot/carrot_man.py
index 94057e4..8d0e4c9 100644
--- a/selfdrive/carrot/carrot_man.py
+++ b/selfdrive/carrot/carrot_man.py
@@ -19,6 +19,7 @@ from openpilot.common.params import Params
 from openpilot.common.filter_simple import MyMovingAverage
 from openpilot.system.hardware import PC, TICI
 from openpilot.selfdrive.navd.helpers import Coordinate
+from opendbc.car.common.conversions import Conversions as CV
 
 try:
   from shapely.geometry import LineString
@@ -278,6 +279,8 @@ class CarrotMan:
 
     self.active_carrot_last = False
 
+    self.is_metric = self.params.get_bool("IsMetric")
+
   def get_broadcast_address(self):
     if PC:
       iface = b'br0'
@@ -583,6 +586,81 @@ class CarrotMan:
         print(f"Network error, retrying...: {e}")
         time.sleep(2)
 
+
+  def parse_kisa_data(self, data: bytes):
+    result = {}
+    
+    try:
+      decoded = data.decode('utf-8')
+    except UnicodeDecodeError:
+      print("Decoding error:", data)
+      return result
+
+    parts = decoded.split('/')
+    for part in parts:
+      if ':' in part:
+        key, value = part.split(':', 1)
+        try:
+          result[key] = int(value)
+        except ValueError:
+          result[key] = value
+    return result
+  
+  def kisa_app_thread(self):
+    while True:
+      try:
+        with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock:
+          sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+          sock.settimeout(10)  # 소켓 타임아웃 설정 (10초)
+          sock.bind(('', 12345))  # UDP 포트 바인딩
+          print("#########kisa_app_thread: UDP thread started...")
+
+          while True:
+            try:
+              #self.remote_addr = None
+              # 데이터 수신 (UDP는 recvfrom 사용)
+              try:
+                data, remote_addr = sock.recvfrom(4096)  # 최대 4096 바이트 수신
+                #print(f"Received data from {self.remote_addr}")
+
+                if not data:
+                  raise ConnectionError("No data received")
+
+                #if self.remote_addr is None:
+                #  print("Connected to: ", remote_addr)
+                #self.remote_addr = remote_addr
+                try:
+                  print(data)
+                  kisa_data = self.parse_kisa_data(data)
+                  self.carrot_serv.update_kisa(kisa_data)
+                  #json_obj = json.loads(data.decode())
+                  #print(json_obj)
+                except Exception as e:
+                  traceback.print_exc()
+                  print(f"kisa_app_thread: json error...: {e}")
+                  print(data)
+
+              except TimeoutError:
+                print("Waiting for data (timeout)...")
+                #self.remote_addr = None
+                time.sleep(1)
+
+              except Exception as e:
+                print(f"kisa_app_thread: error...: {e}")
+                #self.remote_addr = None
+                break
+
+            except Exception as e:
+              print(f"kisa_app_thread: recv error...: {e}")
+              #self.remote_addr = None
+              break
+
+          time.sleep(1)
+      except Exception as e:
+        #self.remote_addr = None
+        print(f"Network error, retrying...: {e}")
+        time.sleep(2)
+
   def make_tmux_data(self):
     try:
       subprocess.run("rm /data/media/tmux.log; tmux capture-pane -pq -S-1000 > /data/media/tmux.log", shell=True, capture_output=True, text=False)
@@ -886,6 +964,7 @@ class CarrotServ:
     self.params_memory = Params("/dev/shm/params")
 
     self.nRoadLimitSpeed = 30
+    self.nRoadLimitSpeed_last = 30
     self.nRoadLimitSpeed_counter = 0
 
     self.active_carrot = 0     ## 1: CarrotMan Active, 2: sdi active , 3: speed decel active, 4: section active, 5: bump active, 6: speed limit active
@@ -893,6 +972,8 @@ class CarrotServ:
     self.active_sdi_count = 0
     self.active_sdi_count_max = 200 # 20 sec
 
+    self.active_kisa_count = 0
+
     self.nSdiType = -1
     self.nSdiSpeedLimit = 0
     self.nSdiSection = 0
@@ -1006,6 +1087,8 @@ class CarrotServ:
     self.autoTurnControlTurnEnd = self.params.get_int("AutoTurnControlTurnEnd")
     #self.autoNaviSpeedDecelRate = float(self.params.get_int("AutoNaviSpeedDecelRate")) * 0.01
     self.autoCurveSpeedLowerLimit = int(self.params.get("AutoCurveSpeedLowerLimit"))
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.autoRoadSpeedLimitOffset = self.params.get_int("AutoRoadSpeedLimitOffset")
 
 
   def _update_cmd(self):
@@ -1440,6 +1523,44 @@ class CarrotServ:
       self.debugText = f"{self.nRoadLimitSpeed},{msg_nav.maneuverType},{msg_nav.maneuverModifier} "
       #print(msg_nav)
       #print(f"navInstruction: {self.xTurnInfo}, {self.xDistToTurn}, {self.szTBTMainText}")
+
+  def update_kisa(self, data):
+    self.active_kisa_count = 100
+    if "kisawazecurrentspd" in data:
+      pass
+    if "kisawazeroadspdlimit" in data:
+      road_limit_speed = data["kisawazeroadspdlimit"]
+      if road_limit_speed > 0:
+        print(f"kisawazeroadspdlimit: {road_limit_speed} km/h")
+        if not self.is_metric:
+          road_limit_speed *= CV.MPH_TO_KPH
+        self.nRoadLimitSpeed = road_limit_speed 
+    if "kisawazealert" in data:
+      pass
+    if "kisawazeendalert" in data:
+      pass
+    if "kisawazeroadname" in data:
+      print(f"kisawazeroadname: {data['kisawazeroadname']}")
+      self.szPosRoadName = data["kisawazeroadname"]
+    if "kisawazereportid" in data and "kisawazealertdist" in data:
+      id_str = data["kisawazereportid"]
+      dist_str = data["kisawazealertdist"].lower()
+      import re
+      match = re.search(r'(\d+)', dist_str)
+      distance = int(match.group(1)) if match else 0
+      if not self.is_metric:
+        distance = int(distance * 0.3048)
+      print(f"{id_str}: {distance} m")
+      xSpdType = -1
+      if 'camera' in id_str:
+        xSpdType = 1
+      elif 'police' in id_str:
+        xSpdType = 100
+
+      if xSpdType >= 0:
+        self.xSpdLimit = self.nRoadLimitSpeed
+        self.xSpdDist = distance
+        self.xSpdType =xSpdType 
     
   def update_navi(self, remote_ip, sm, pm, vturn_speed, coords, distances, route_speed):
 
@@ -1452,26 +1573,41 @@ class CarrotServ:
       distanceTraveled = sm['selfdriveState'].distanceTraveled
       delta_dist = distanceTraveled - self.totalDistance
       self.totalDistance = distanceTraveled
-      if CS.speedLimit > 0:
+      if CS.speedLimit > 0 and self.active_carrot <= 1:
         self.nRoadLimitSpeed = CS.speedLimit
     else:
       v_ego = v_ego_kph = 0
       delta_dist = 0
       CS = None
 
+    road_speed_limit_changed = True if self.nRoadLimitSpeed != self.nRoadLimitSpeed_last else False
+    self.nRoadLimitSpeed_last = self.nRoadLimitSpeed
     #self.bearing = self.nPosAngle #self._update_gps(v_ego, sm)
     self.bearing = self._update_gps(v_ego, sm)
 
-    self.xSpdDist = max(self.xSpdDist - delta_dist, 0)
+    self.xSpdDist = max(self.xSpdDist - delta_dist, -1000)
     self.xDistToTurn = max(self.xDistToTurn - delta_dist, 0)
     self.xDistToTurnNext = max(self.xDistToTurnNext - delta_dist, 0)
     self.active_count = max(self.active_count - 1, 0)
     self.active_sdi_count = max(self.active_sdi_count - 1, 0)
-    if self.active_count > 0:
+    self.active_kisa_count = max(self.active_kisa_count - 1, 0)
+    if self.active_kisa_count > 0:
+      self.active_carrot = 2
+      
+    elif self.active_count > 0:
       self.active_carrot = 2 if self.active_sdi_count > 0 else 1
     else:
       self.active_carrot = 0
 
+    if self.autoRoadSpeedLimitOffset >= 0 and self.active_carrot>=2:
+      if self.nRoadLimitSpeed >= 30:
+        road_speed_limit_offset = self.autoRoadSpeedLimitOffset
+        if not self.is_metric:
+          road_speed_limit_offset *= CV.KPH_TO_MPH
+        limit_speed = self.nRoadLimitSpeed + road_speed_limit_offset
+    else:
+      limit_speed = 200
+
     if self.active_carrot <= 1:
       self.xSpdType = self.navType = self.xTurnInfo = self.xTurnInfoNext = -1
       self.nSdiType = self.nSdiBlockType = self.nSdiPlusBlockType = -1
@@ -1480,7 +1616,7 @@ class CarrotServ:
       self.nGoPosDist = 0
       self.update_nav_instruction(sm)
 
-    if self.xSpdType < 0 or self.xSpdDist <= 0:
+    if self.xSpdType < 0 or (self.xSpdType != 100 and self.xSpdDist <= 0) or (self.xSpdType == 100 and self.xSpdDist < -250):
       self.xSpdType = -1
       self.xSpdDist = self.xSpdLimit = 0
     if self.xTurnInfo < 0 or self.xDistToTurn < -50:
@@ -1491,13 +1627,13 @@ class CarrotServ:
 
     sdi_speed = 250
     hda_active = False
-    ### 과속카메라, 사고방지턱    
-    if self.xSpdDist > 0 and self.active_carrot > 0:
+    ### 과속카메라, 사고방지턱
+    if (self.xSpdDist > 0 or self.xSpdType == 100) and self.active_carrot > 0:
       safe_sec = self.autoNaviSpeedBumpTime if self.xSpdType == 22 else self.autoNaviSpeedCtrlEnd
       decel = self.autoNaviSpeedDecelRate
       sdi_speed = min(sdi_speed, self.calculate_current_speed(self.xSpdDist, self.xSpdLimit, safe_sec, decel))
       self.active_carrot = 5 if self.xSpdType == 22 else 3
-      if self.xSpdType == 4:
+      if self.xSpdType == 4 or (self.xSpdType == 100 and self.xSpdDist <= 0):
         sdi_speed = self.xSpdLimit
         self.active_carrot = 4
     elif CS is not None and CS.speedLimit > 0 and CS.speedLimitDistance > 0:
@@ -1509,6 +1645,7 @@ class CarrotServ:
       #self.active_carrot = 6
       hda_active = True
 
+    #print(f"sdi_speed: {sdi_speed}, hda_active: {hda_active}, xSpdType: {self.xSpdType}, xSpdDist: {self.xSpdDist}, active_carrot: {self.active_carrot}, v_ego_kph: {v_ego_kph}, nRoadLimitSpeed: {self.nRoadLimitSpeed}")
     ### TBT 속도제어
     atc_desired, self.atcType, self.atcSpeed, self.atcDist = self.update_auto_turn(v_ego*3.6, sm, self.xTurnInfo, self.xDistToTurn, True)
     atc_desired_next, _, _, _ = self.update_auto_turn(v_ego*3.6, sm, self.xTurnInfoNext, self.xDistToTurnNext, False)
@@ -1539,7 +1676,8 @@ class CarrotServ:
     speed_n_sources = [
       (atc_desired, "atc"),
       (atc_desired_next, "atc2"),
-      (sdi_speed, "hda" if hda_active else "bump" if self.xSpdType == 22 else "section" if self.xSpdType == 4 else "cam"),
+      (sdi_speed, "hda" if hda_active else "bump" if self.xSpdType == 22 else "section" if self.xSpdType == 4 else "police" if self.xSpdType == 100 else "cam"),
+      (limit_speed, "road"),
     ]
     if self.turnSpeedControlMode in [1,2]:
       speed_n_sources.append((max(abs(vturn_speed), self.autoCurveSpeedLowerLimit), "vturn"))
@@ -1557,7 +1695,7 @@ class CarrotServ:
       if source != self.source_last:
         self.gas_override_speed = 0
         self.gas_pressed_state = CS.gasPressed
-      if CS.vEgo < 0.1 or desired_speed > 150 or source in ["cam", "section"] or CS.brakePressed:
+      if CS.vEgo < 0.1 or desired_speed > 150 or source in ["cam", "section", "police"] or CS.brakePressed or road_speed_limit_changed:
         self.gas_override_speed = 0
       elif CS.gasPressed and not self.gas_pressed_state:
         self.gas_override_speed = max(v_ego_kph, self.gas_override_speed)
@@ -1867,6 +2005,7 @@ def main():
   carrot_man = CarrotMan()
 
   print(f"CarrotMan {carrot_man}")
+  threading.Thread(target=carrot_man.kisa_app_thread).start()
   while True:
     try:
       carrot_man.carrot_man_thread()
diff --git a/selfdrive/carrot_settings.json b/selfdrive/carrot_settings.json
index 2c83d3e..987f380 100644
--- a/selfdrive/carrot_settings.json
+++ b/selfdrive/carrot_settings.json
@@ -5,10 +5,10 @@
       "group": "조향일반",
       "name": "PathOffset",
       "title": "차선치우침 좌우보정(0)",
-      "descr": "(-)좌측,(+)우측",
+      "descr": "LaneMode only: (-)좌측,(+)우측",
       "egroup": "LAT",
       "etitle": "PathOffset (0)",
-      "edescr": "(-)Left,(+)Right",
+      "edescr": "LaneMode only: (-)Left,(+)Right",
       "min": -150,
       "max": 150,
       "default": 0,
@@ -21,7 +21,7 @@
       "descr": "0:LiveTorque, 1:CustomTorque",
       "egroup": "LAT",
       "etitle": "_LateralTorqueCustom(0)",
-      "edescr": "",
+      "edescr": "0:LiveToruque, 1:CustomTorque",
       "min": 0,
       "max": 1,
       "default": 1,
@@ -56,10 +56,10 @@
     {
       "group": "조향튜닝",
       "name": "LateralTorqueKpV",
-      "title": "_LateralTorqueKpV*0.01(100)",
+      "title": "_LateralTorqueKp*0.01(100)",
       "descr": "",
       "egroup": "LAT",
-      "etitle": "_LateralTorqueKpV*0.01(100)",
+      "etitle": "_LateralTorqueKp*0.01(100)",
       "edescr": "",
       "min": 0,
       "max": 200,
@@ -69,10 +69,10 @@
     {
       "group": "조향튜닝",
       "name": "LateralTorqueKiV",
-      "title": "_LateralTorqueKiV*0.01(10)",
+      "title": "_LateralTorqueKi*0.01(10)",
       "descr": "",
       "egroup": "LAT",
-      "etitle": "_LateralTorqueKiV*0.01(10)",
+      "etitle": "_LateralTorqueKi*0.01(10)",
       "edescr": "",
       "min": 0,
       "max": 200,
@@ -170,14 +170,40 @@
       "default": 1,
       "unit": 100
     },
+    {
+      "group": "조향튜닝",
+      "name": "LatMpcInputOffset",
+      "title": "*LATMPC.InputOffset(6)",
+      "descr": "LaneMode Mpc입력보상, 값이 크면 일찍커브에 진입함",
+      "egroup": "LAT",
+      "etitle": "*LATMPC.InputOffset(6)",
+      "edescr": "LaneMode MPC input compensation: higher value, earlier curve entry",
+      "min": 0,
+      "max": 20,
+      "default": 1,
+      "unit": 1
+    },
+    {
+      "group": "조향튜닝",
+      "name": "LatMpcOutputOffset",
+      "title": "*LATMPC.OutputOffset(5)",
+      "descr": "LaneMode Mpc지연보상, 값이 크면??",
+      "egroup": "LAT",
+      "etitle": "*LATMPC.OutputOffset(5)",
+      "edescr": "",
+      "min": 0,
+      "max": 20,
+      "default": 1,
+      "unit": 1
+    },
     {
       "group": "조향튜닝",
       "name": "CustomSteerMax",
       "title": "_CustomSteerMax(0)",
-      "descr": "토크제어: 270,384,409",
+      "descr": "최대조향토크: 270,384,409",
       "egroup": "LAT",
       "etitle": "_CustomSteerMax(0)",
-      "edescr": "",
+      "edescr": "MaxSteerTorque: 270, 384, 409",
       "min": 0,
       "max": 30000,
       "default": 0,
@@ -242,7 +268,7 @@
       "descr": "목표속도를 일시적으로 올림",
       "egroup": "CRUISE",
       "etitle": "CruiseEcoControl(2km/h)",
-      "edescr": "",
+      "edescr": "Temporarily increases the target speed",
       "min": 0,
       "max": 10,
       "default": 2,
@@ -252,7 +278,7 @@
       "group": "조향튜닝",
       "name": "CustomSR",
       "title": "CustomSteerRatiox0.1(0)",
-      "descr": "0: LiveSteerRatio사용, 단위:0.1",
+      "descr": "0: LiveSteerRatio사용",
       "egroup": "LAT",
       "etitle": "CustomSteerRatiox0.1(0)",
       "edescr": "0: Use LiveSteerRatio",
@@ -278,10 +304,10 @@
       "group": "가속설정",
       "name": "CruiseMaxVals1",
       "title": "가속설정1:0km/h(160)",
-      "descr": "Normal mode only (x0.01m/s^2)",
+      "descr": "",
       "egroup": "ACCEL",
       "etitle": "AccelSet1:0km/h(160)",
-      "edescr": "Normal mode only (x0.01m/s^2)",
+      "edescr": "",
       "min": 1,
       "max": 250,
       "default": 160,
@@ -291,10 +317,10 @@
       "group": "가속설정",
       "name": "CruiseMaxVals2",
       "title": "가속설정2:40km/h(120)",
-      "descr": "Normal mode only (x0.01m/s^2)",
+      "descr": "",
       "egroup": "ACCEL",
       "etitle": "AccelSet2:40km/h(120)",
-      "edescr": "Normal mode only (x0.01m/s^2)",
+      "edescr": "",
       "min": 1,
       "max": 250,
       "default": 120,
@@ -304,10 +330,10 @@
       "group": "가속설정",
       "name": "CruiseMaxVals3",
       "title": "가속설정3:60km/h(100)",
-      "descr": "Normal mode only (x0.01m/s^2)",
+      "descr": "",
       "egroup": "ACCEL",
       "etitle": "AccelSet3:60km/h(100)",
-      "edescr": "Normal mode only (x0.01m/s^2)",
+      "edescr": "",
       "min": 1,
       "max": 250,
       "default": 100,
@@ -317,10 +343,10 @@
       "group": "가속설정",
       "name": "CruiseMaxVals4",
       "title": "가속설정4:80km/h(80)",
-      "descr": "Normal mode only (x0.01m/s^2)",
+      "descr": "",
       "egroup": "ACCEL",
       "etitle": "AccelSet4:80km/h(80)",
-      "edescr": "Normal mode only (x0.01m/s^2)",
+      "edescr": "",
       "min": 1,
       "max": 250,
       "default": 80,
@@ -330,10 +356,10 @@
       "group": "가속설정",
       "name": "CruiseMaxVals5",
       "title": "가속설정5:110km/h(70)",
-      "descr": "Normal mode only (x0.01m/s^2)",
+      "descr": "",
       "egroup": "ACCEL",
       "etitle": "AccelSet5:110km/h(70)",
-      "edescr": "Normal mode only (x0.01m/s^2)",
+      "edescr": "",
       "min": 1,
       "max": 250,
       "default": 70,
@@ -343,10 +369,10 @@
       "group": "가속설정",
       "name": "CruiseMaxVals6",
       "title": "가속설정6:140km/h(60)",
-      "descr": "Normal mode only (x0.01m/s^2)",
+      "descr": "",
       "egroup": "ACCEL",
       "etitle": "AccelSet6:140km/h(60)",
-      "edescr": "(x0.01m/s^2)",
+      "edescr": "",
       "min": 1,
       "max": 250,
       "default": 60,
@@ -372,7 +398,7 @@
       "descr": "값이 크면 전방차량의 가속도변화율에 민감하게 반응",
       "egroup": "LONG",
       "etitle": "JerkLeadFactor(0)",
-      "edescr": "",
+      "edescr": "Higher value makes more sensitive to lead jerk",
       "min": 0,
       "max": 100,
       "default": 0,
@@ -382,10 +408,10 @@
       "group": "주행튜닝",
       "name": "LongTuningKpV",
       "title": "Long KpV(100)x0.01",
-      "descr": "HKG: AccelPid:0, VelocityPid:100",
+      "descr": "Hyundai: 100으로 설정",
       "egroup": "LONG",
       "etitle": "Long KpV(100)x0.01",
-      "edescr": "HKG: AccelPid:0, VelocityPid:100",
+      "edescr": "Hyundai: 100",
       "min": 0,
       "max": 200,
       "default": 100,
@@ -395,10 +421,10 @@
       "group": "주행튜닝",
       "name": "LongTuningKf",
       "title": "Long Kf(100)x0.01",
-      "descr": "",
+      "descr": "Hyundai: 100",
       "egroup": "LONG",
       "etitle": "Long Kf(100)x0.01",
-      "edescr": "",
+      "edescr": "Hyundai: 100",
       "min": 0,
       "max": 200,
       "default": 0,
@@ -408,10 +434,10 @@
       "group": "주행튜닝",
       "name": "LongTuningKiV",
       "title": "Long KiV(0)x0.01",
-      "descr": "",
+      "descr": "Hyundai: 0",
       "egroup": "LONG",
       "etitle": "Long KiV(0)x0.01",
-      "edescr": "",
+      "edescr": "Hyundai: 0",
       "min": 0,
       "max": 2000,
       "default": 0,
@@ -421,10 +447,10 @@
       "group": "주행튜닝",
       "name": "LongActuatorDelay",
       "title": "LongActuatorDelay(20)x0.01",
-      "descr": "",
+      "descr": "Hyundai: 20",
       "egroup": "LONG",
       "etitle": "LongActuatorDelay(20)x0.01",
-      "edescr": "",
+      "edescr": "Hyundai: 20",
       "min": 0,
       "max": 200,
       "default": 20,
@@ -437,7 +463,7 @@
       "descr": "값을 올리면 늦게 출발함, 너무낮추면 추돌위험이 있을수 있음.",
       "egroup": "LONG",
       "etitle": "VEgoStopping(50)x0.01",
-      "edescr": "",
+      "edescr": "Higher value: later start; too low: collision risk",
       "min": 1,
       "max": 100,
       "default": 50,
@@ -450,7 +476,7 @@
       "descr": "값이 낮아지면 선행차량에 대한 반응이 빨라짐.",
       "egroup": "LONG",
       "etitle": "Radar reaction factor (100)%",
-      "edescr": "",
+      "edescr": "Lower value: faster response to lead car",
       "min": 0,
       "max": 200,
       "default": 100,
@@ -489,7 +515,7 @@
       "descr": "0:사용안함,1:차선변경, 2:차선변경+속도, 3:속도",
       "egroup": "LATSET",
       "etitle": "ATC: AutoTurnControl",
-      "edescr": "0: Not used, 1:laneChange, 2:laneChange+speed, 3:speed",
+      "edescr": "(TMAP)0: Not used, 1:laneChange, 2:laneChange+speed, 3:speed",
       "min": 0,
       "max": 3,
       "default": 0,
@@ -502,7 +528,7 @@
       "descr": "0:사용안함, 턴시 적용속도",
       "egroup": "LATSET",
       "etitle": "ATC: Turn Speed(20)",
-      "edescr": "0: Not used, Turn Speed",
+      "edescr": "(TMAP)0: Not used, Turn Speed",
       "min": 0,
       "max": 100,
       "default": 20,
@@ -515,7 +541,7 @@
       "descr": "NOO완료 시간거리(속도*시간)",
       "egroup": "LATSET",
       "etitle": "ATC: Speed Ctrl left Time(3)",
-      "edescr": "",
+      "edescr": "(TMAP)",
       "min": 0,
       "max": 30,
       "default": 6,
@@ -528,7 +554,7 @@
       "descr": "ATC 작동시 자동맵전환",
       "egroup": "LATSET",
       "etitle": "ATC Helper Map display(0)",
-      "edescr": "",
+      "edescr": "(TMAP)",
       "min": 0,
       "max": 1,
       "default": 0,
@@ -538,12 +564,12 @@
       "group": "버튼설정",
       "name": "CruiseButtonMode",
       "title": "크루즈버튼작동모드(0)",
-      "descr": "0:일반,1:사용자1,2:사용자2",
+      "descr": "0:일반,1:사용자1,2:사용자2,3:사용자3",
       "egroup": "BUTN",
       "etitle": "Cruise Button Mode(0)",
-      "edescr": "0:General,1:User1,2:User2",
+      "edescr": "0:General,1:User1,2:User2,3:User3",
       "min": 0,
-      "max": 2,
+      "max": 3,
       "default": 0,
       "unit": 1
     },
@@ -612,6 +638,71 @@
       "default": 10,
       "unit": 1
     },
+    {
+      "group": "버튼설정",
+      "name": "CruiseSpeed1",
+      "title": "크루즈속도1(30)",
+      "descr": "버튼모드3, 단계별속도",
+      "egroup": "BUTN",
+      "etitle": "Cruise Speed1(30)",
+      "edescr": "CruiseButtonMode2, prefer speed",
+      "min": 1,
+      "max": 160,
+      "default": 10,
+      "unit": 10
+    },
+    {
+      "group": "버튼설정",
+      "name": "CruiseSpeed2",
+      "title": "크루즈속도2(50)",
+      "descr": "버튼모드3, 단계별속도",
+      "egroup": "BUTN",
+      "etitle": "Cruise Speed2(50)",
+      "edescr": "CruiseButtonMode2, prefer speed",
+      "min": 1,
+      "max": 160,
+      "default": 10,
+      "unit": 10
+    },
+    {
+      "group": "버튼설정",
+      "name": "CruiseSpeed3",
+      "title": "크루즈속도3(80)",
+      "descr": "버튼모드3, 단계별속도",
+      "egroup": "BUTN",
+      "etitle": "Cruise Speed3(80)",
+      "edescr": "CruiseButtonMode2, prefer speed",
+      "min": 1,
+      "max": 160,
+      "default": 10,
+      "unit": 10
+    },
+    {
+      "group": "버튼설정",
+      "name": "CruiseSpeed4",
+      "title": "크루즈속도4(110)",
+      "descr": "버튼모드3, 단계별속도",
+      "egroup": "BUTN",
+      "etitle": "Cruise Speed4(110)",
+      "edescr": "CruiseButtonMode2, prefer speed",
+      "min": 1,
+      "max": 160,
+      "default": 10,
+      "unit": 10
+    },
+    {
+      "group": "버튼설정",
+      "name": "CruiseSpeed5",
+      "title": "크루즈속도5(130)",
+      "descr": "버튼모드3, 단계별속도",
+      "egroup": "BUTN",
+      "etitle": "Cruise Speed5(130)",
+      "edescr": "CruiseButtonMode2, prefer speed",
+      "min": 1,
+      "max": 160,
+      "default": 10,
+      "unit": 10
+    },
     {
       "group": "버튼설정",
       "name": "PaddleMode",
@@ -632,7 +723,7 @@
       "descr": "1:SOFTHOLD, Auto Cruise, 2:SoftHold오류시",
       "egroup": "START",
       "etitle": "Auto Cruise control(HKG only)",
-      "edescr": "Softhold, Auto Cruise ON/OFF control",
+      "edescr": "Softhold, Auto Cruise ON/OFF control, 2:if softhold error",
       "min": 0,
       "max": 3,
       "default": 0,
@@ -641,11 +732,11 @@
     {
       "group": "시작",
       "name": "AutoGasTokSpeed",
-      "title": "오토크루즈: 엑셀톡 속도",
+      "title": "오토크루즈: 엑셀톡 시작속도",
       "descr": "해당속도 이상에서만 작동함.",
       "egroup": "START",
-      "etitle": "Auto Cruise: Gas Tok speed",
-      "edescr": "",
+      "etitle": "Auto Cruise: Gas Tok enable speed",
+      "edescr": "Gas Tok(Gas tab): enable speed",
       "min": 0,
       "max": 200,
       "default": 0,
@@ -707,10 +798,10 @@
       "group": "시작",
       "name": "DisableMinSteerSpeed",
       "title": "저속조향제한해제",
-      "descr": "저속조향이 안되나, SMDPS장착차량",
+      "descr": "SMDPS장착차량: 1",
       "egroup": "START",
       "etitle": "DisableMinSteerSpeed",
-      "edescr": "",
+      "edescr": "smdps equiped: 1",
       "min": 0,
       "max": 1,
       "default": 0,
@@ -788,7 +879,7 @@
       "descr": "전방차량에 따라 자동속도증가. 로드스피드*비율 까지 자동속도올림.",
       "egroup": "CRUISE",
       "etitle": "AutoSpeedUpx:(100)%",
-      "edescr": "",
+      "edescr": "Automatically increases speed on lead car, up to (road speed x ratio)",
       "min": 0,
       "max": 200,
       "default": 0,
@@ -906,7 +997,7 @@
       "descr": "0:안함,1:표시함,2:상대위치,3:정지차량",
       "egroup": "DISP",
       "etitle": "Show Radar Info",
-      "edescr": "",
+      "edescr": "0:None,1:display,2:+relative pos, 3:stopped obstacle",
       "min": 0,
       "max": 3,
       "default": 0,
@@ -919,7 +1010,7 @@
       "descr": "0:안함,1:표시함",
       "egroup": "DISP",
       "etitle": "Show Route Info",
-      "edescr": "",
+      "edescr": "(TMAP)",
       "min": 0,
       "max": 1,
       "default": 0,
@@ -932,7 +1023,7 @@
       "descr": "0:일반,1,2:사각,3,4:^^,5,6:사각,7,8:^^,9,10,11:smooth^^,12:smooth2^^,13:3줄,14:2줄,15:1줄",
       "egroup": "DISP",
       "etitle": "Show Path Mode:LaneLess(9)",
-      "edescr": "",
+      "edescr": "0:stock,1,2:REC,3,4:^^,5,6:REC,7,8:^^,9,10,11:smooth^^,12:smooth2^^,13:3lines,14:2lines,15:1lines",
       "min": 0,
       "max": 15,
       "default": 9,
@@ -945,7 +1036,7 @@
       "descr": "(+10:띠)0:빨,1:주,2:노,3:초,4:파,5:남,6:보,7:고,8:흰,9:검",
       "egroup": "DISP",
       "etitle": "Show Path Color:LaneLess(12)",
-      "edescr": "",
+      "edescr": "(+10:stroke)0(R),1(O),2(Y),3(B),5(N),6(V),7(K),8(W),9(B)",
       "min": 0,
       "max": 19,
       "default": 12,
@@ -958,7 +1049,7 @@
       "descr": "0:일반,1,2:사각,3,4:^^,5,6:사각,7,8:^^,9,10,11:smooth^^,12:smooth2^^,13:3줄,14:2줄,15:1줄",
       "egroup": "DISP",
       "etitle": "Show Path Mode:CruiseOFF(9)",
-      "edescr": "",
+      "edescr": "0:stock,1,2:REC,3,4:^^,5,6:REC,7,8:^^,9,10,11:smooth^^,12:smooth2^^,13:3lines,14:2lines,15:1lines",
       "min": 0,
       "max": 15,
       "default": 9,
@@ -971,7 +1062,7 @@
       "descr": "(+10:띠)0:빨,1:주,2:노,3:초,4:파,5:남,6:보,7:고,8:흰,9:검",
       "egroup": "DISP",
       "etitle": "Show Path Color:CruiseOFF(1)",
-      "edescr": "",
+      "edescr": "(+10:stroke)0(R),1(O),2(Y),3(B),5(N),6(V),7(K),8(W),9(B)",
       "min": 0,
       "max": 19,
       "default": 1,
@@ -984,7 +1075,7 @@
       "descr": "0:일반,1,2:사각,3,4:^^,5,6:사각,7,8:^^,9,10,11:smooth^^,12:smooth2^^,13:3줄,14:2줄,15:1줄",
       "egroup": "DISP",
       "etitle": "Show Path Mode:LaneMode(11)",
-      "edescr": "",
+      "edescr": "0:stock,1,2:REC,3,4:^^,5,6:REC,7,8:^^,9,10,11:smooth^^,12:smooth2^^,13:3lines,14:2lines,15:1lines",
       "min": 0,
       "max": 15,
       "default": 11,
@@ -997,7 +1088,7 @@
       "descr": "(+10:띠)0:빨,1:주,2:노,3:초,4:파,5:남,6:보,7:고,8:흰,9:검",
       "egroup": "DISP",
       "etitle": "Show Path Color:LaneMode(3)",
-      "edescr": "",
+      "edescr": "(+10:stroke)0(R),1(O),2(Y),3(B),5(N),6(V),7(K),8(W),9(B)",
       "min": 0,
       "max": 19,
       "default": 3,
@@ -1023,7 +1114,7 @@
       "descr": "레인(차선)모드 사용하면 기존의 조향제어(lat_mpc)를 사용합니다.",
       "egroup": "LAT",
       "etitle": "Laneline: Speed(0)",
-      "edescr": "Lainline mode, lat_mpc control used",
+      "edescr": "Lainline mode speed, lat_mpc control used",
       "min": 0,
       "max": 200,
       "default": 0,
@@ -1062,12 +1153,25 @@
       "descr": "0: 즉시 차선변경, 1: 토크필요, -1:자동차선변경사용안함",
       "egroup": "LAT",
       "etitle": "LaneChange use steering torque",
-      "edescr": "1: need torque",
+      "edescr": "0:immediate, 1: need torque(nudge), -1: auto lane change off",
       "min": -1,
       "max": 1,
       "default": 0,
       "unit": 1
     },
+    {
+      "group": "조향일반",
+      "name": "LaneChangeDelay",
+      "title": "차선변경 지연x0.1s(0)",
+      "descr": "",
+      "egroup": "LAT",
+      "etitle": "LaneChange delayx0.1s(0)",
+      "edescr": "",
+      "min": 0,
+      "max": 100,
+      "default": 0,
+      "unit": 10
+    },
     {
       "group": "조향일반",
       "name": "LaneChangeBsd",
@@ -1100,7 +1204,7 @@
       "title": "MaxAngleFrames(89)",
       "descr": "89:기본값",
       "egroup": "START",
-      "etitle": "MaxAngleFrames(1)",
+      "etitle": "MaxAngleFrames(89)",
       "edescr": "",
       "min": 80,
       "max": 100,
@@ -1127,7 +1231,7 @@
       "descr": "1: HDA2 강제인식, 2: HDA2+BSM",
       "egroup": "START",
       "etitle": "CANFD HDA2(0)",
-      "edescr": "",
+      "edescr": "0:HDA1, 1: HDA2, 2: HDA2+BSM",
       "min": 0,
       "max": 2,
       "default": 0,
@@ -1361,7 +1465,7 @@
       "descr": "감속종료시점을 설정합니다.",
       "egroup": "SPEED",
       "etitle": "NaviSpeedEndingPoint(6s)",
-      "edescr": "Deceleration completion point",
+      "edescr": "Time until decel completes, based on speed x time",
       "min": 3,
       "max": 20,
       "default": 6,
@@ -1374,12 +1478,25 @@
       "descr": "0:감속안함,1:과속카메라,2:+사고방지턱,3:+이동식카메라",
       "egroup": "SPEED",
       "etitle": "NaviSpeedControlMode(2)",
-      "edescr": "",
+      "edescr": "0:Not used, 1:Speed cam, 2:+speed bump, 3:+mobile speed cam",
       "min": 0,
       "max": 3,
       "default": 2,
       "unit": 1
     },
+    {
+      "group": "감속제어",
+      "name": "AutoRoadSpeedLimitOffset",
+      "title": "도로제한속도맞춤(-1)",
+      "descr": "-1:안함, 도로제한속도 + 설정값",
+      "egroup": "SPEED",
+      "etitle": "RoadSpeedLimitOffset(-1)",
+      "edescr": "-1:NotUsed, RoadLimitSpeed+Offset",
+      "min": -1,
+      "max": 100,
+      "default": -1,
+      "unit": 1
+    },
     {
       "group": "감속제어",
       "name": "AutoNaviSpeedBumpTime",
@@ -1413,7 +1530,7 @@
       "descr": "낮으면 멀리서부터 감속함",
       "egroup": "SPEED",
       "etitle": "NaviSpeedDecelRate 0.01m/s^2x(200)",
-      "edescr": "",
+      "edescr": "Lower value deceleration starts earlier",
       "min": 50,
       "max": 300,
       "default": 200,
@@ -1426,7 +1543,7 @@
       "descr": "0: 알림없음, 1: 턴지점+속도, 2: 턴지점+속도+방지턱",
       "egroup": "SPEED",
       "etitle": "NaviCountDownMode",
-      "edescr": "",
+      "edescr": "0:not used, 1: turn point + speed, 2:+speed bump",
       "min": 0,
       "max": 2,
       "default": 2,
@@ -1439,7 +1556,7 @@
       "descr": "0: 속도제어안함,1:비젼,2:비젼+경로(TBT),3:경로(항상)",
       "egroup": "SPEED",
       "etitle": "TurnSpeedControlMode",
-      "edescr": "",
+      "edescr": "0:not used, 1:vision turn, 2:+route, 3:route(allways)",
       "min": 0,
       "max": 3,
       "default": 1,
@@ -1452,7 +1569,7 @@
       "descr": "작으면 속도가 줄어듬",
       "egroup": "SPEED",
       "etitle": "MapTurnSpeedFactor",
-      "edescr": "",
+      "edescr": "lower value, slower speed",
       "min": 50,
       "max": 300,
       "default": 100,
@@ -1465,7 +1582,7 @@
       "descr": "",
       "egroup": "SPEED",
       "etitle": "NaviSpeedLimitRatio(105)%",
-      "edescr": "",
+      "edescr": "speed(roadlimitspeed) apply ratio",
       "min": 80,
       "max": 120,
       "default": 105,
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 509371f..f5ab18c 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -136,7 +136,7 @@ class Controls:
                                   curve_speed_abs > self.params.get_int("UseLaneLineCurveSpeed"))
     lat_smooth_seconds = LAT_SMOOTH_SECONDS #self.params.get_float("SteerSmoothSec") * 0.01
     steer_actuator_delay = self.params.get_float("SteerActuatorDelay") * 0.01
-    mpc_delay_offset = 0.05
+    mpc_output_offset = self.params.get_float("LatMpcOutputOffset") * 0.01 # 0.05
     if steer_actuator_delay == 0.0:
       steer_actuator_delay = self.sm['liveDelay'].lateralDelay 
 
@@ -156,7 +156,7 @@ class Controls:
           alpha = 1 - np.exp(-DT_CTRL / tau) if tau > 0 else 1
           return alpha * val + (1 - alpha) * prev_val
 
-        curvature = get_lag_adjusted_curvature(self.CP, CS.vEgo, lat_plan.psis, lat_plan.curvatures, steer_actuator_delay + lat_smooth_seconds + mpc_delay_offset, lat_plan.distances)
+        curvature = get_lag_adjusted_curvature(self.CP, CS.vEgo, lat_plan.psis, lat_plan.curvatures, steer_actuator_delay + lat_smooth_seconds + mpc_output_offset, lat_plan.distances)
 
         new_desired_curvature = smooth_value(curvature, self.desired_curvature, lat_smooth_seconds)
     else:
@@ -195,6 +195,13 @@ class Controls:
     if len(angular_rate_value) > 2:
       CC.angularVelocity = angular_rate_value
 
+    acceleration_value = list(self.sm['liveLocationKalman'].accelerationCalibrated.value)
+    if len(acceleration_value) > 2:
+      if abs(acceleration_value[0]) > 16.0:
+        print("Collision detected. disable openpilot, restart")
+        self.params.put_bool("OpenpilotEnabledToggle", False)
+        self.params.put_int("SoftRestartTriggered", 1)
+
     CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
 
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 6cd7e52..5ef56e7 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -125,10 +125,12 @@ class DesireHelper:
 
     self.lane_available_last = False
     self.edge_available_last = False
-    self.object_detected_count = 0
+    self.object_detected_count = 0    
 
     self.laneChangeNeedTorque = 0
     self.laneChangeBsd = 0
+    self.laneChangeDelay = 0
+    self.lane_change_delay = 0.0
     self.driver_blinker_state = BLINKER_NONE
     self.atc_type = ""
 
@@ -172,9 +174,11 @@ class DesireHelper:
     if self.frame % 100 == 0:
       self.laneChangeNeedTorque = self.params.get_int("LaneChangeNeedTorque")
       self.laneChangeBsd = self.params.get_int("LaneChangeBsd")
+      self.laneChangeDelay = self.params.get_float("LaneChangeDelay") * 0.1
     self.frame += 1
 
     self.carrot_lane_change_count = max(0, self.carrot_lane_change_count - 1)
+    self.lane_change_delay = max(0, self.lane_change_delay - DT_MDL)
 
     v_ego = carstate.vEgo
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
@@ -290,6 +294,7 @@ class DesireHelper:
       if self.lane_change_state == LaneChangeState.off and desire_enabled and not self.prev_desire_enabled and not below_lane_change_speed:
         self.lane_change_state = LaneChangeState.preLaneChange
         self.lane_change_ll_prob = 1.0
+        self.lane_change_delay = self.laneChangeDelay
 
       # LaneChangeState.preLaneChange
       elif self.lane_change_state == LaneChangeState.preLaneChange:
@@ -314,7 +319,7 @@ class DesireHelper:
           self.lane_change_state = LaneChangeState.off
           self.lane_change_direction = LaneChangeDirection.none
         else:
-          if lane_available:
+          if lane_available and self.lane_change_delay == 0:
             if self.blindspot_detected_counter > 0 and not ignore_bsd:  # BSD검출시
               if torque_applied and not block_lanechange_bsd:
                 self.lane_change_state = LaneChangeState.laneChangeStarting
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 25c5c9b..8b6a428 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -47,15 +47,19 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, steer_actuator_delay
 
   distance = max(np.interp(delay, ModelConstants.T_IDXS[:CONTROL_N], distances), 0.001)
   #average_curvature_desired = psi / (v_ego * delay)
+
+  # curve -> straight or reverse curve
+  if abs(current_curvature_desired) > 0.002 and \
+     (abs(future_curvature_desired) < 0.001 or np.sign(current_curvature_desired) != np.sign(future_curvature_desired)):
+    psis_damping = 0.2
+  else:
+    psis_damping = 1.0
+  psi *= psis_damping
+
+
   average_curvature_desired = psi / distance
   desired_curvature = 2 * average_curvature_desired - current_curvature_desired
 
-  #curv_now = np.mean([abs(c) for c in curvatures[0:3]])
-  #curv_future = np.mean([abs(c) for c in curvatures[9:13]])
-  if (abs(current_curvature_desired) - abs(future_curvature_desired)) > 0.002 and abs(future_curvature_desired) < 0.001:
-    desired_curvature = delayed_curvature_desired
-
-
   # This is the "desired rate of the setpoint" not an actual desired rate
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
   safe_desired_curvature = np.clip(desired_curvature,
diff --git a/selfdrive/controls/lib/lane_planner_2.py b/selfdrive/controls/lib/lane_planner_2.py
index 94af1b8..27da0b4 100644
--- a/selfdrive/controls/lib/lane_planner_2.py
+++ b/selfdrive/controls/lib/lane_planner_2.py
@@ -230,7 +230,7 @@ class LanePlanner:
     #  self.d_prob, self.lanefull_mode,
     #  self.lane_width_left_filtered.x, self.lane_width, self.lane_width_right_filtered.x)
 
-    adjustLaneTime = 0.06 #self.params.get_int("AdjustLaneTime") * 0.01
+    adjustLaneTime = self.params.get_float("LatMpcInputOffset") * 0.01 # 0.06 
     laneline_active = False
     self.d_prob_count = self.d_prob_count + 1 if self.d_prob > 0.3 else 0
     if self.lanefull_mode and self.d_prob_count > int(1 / DT_MDL):
diff --git a/selfdrive/ui/carrot.cc b/selfdrive/ui/carrot.cc
index a71167a..f9ed1f3 100644
--- a/selfdrive/ui/carrot.cc
+++ b/selfdrive/ui/carrot.cc
@@ -1024,13 +1024,13 @@ protected:
                 nvgCircle(s->vg, bx, by, 110 / 2 * scale);
                 nvgFillColor(s->vg, COLOR_WHITE);
                 nvgFill(s->vg);
-                sprintf(str, "%d", xSpdLimit);
+                sprintf(str, "%d", (int)(xSpdLimit * ((s->scene.is_metric)?1:KM_TO_MILE) + 0.5));
                 ui_draw_text(s, bx, by + 25 * scale - 6 * (1 - scale), str, 60 * scale, COLOR_BLACK, BOLD, 0.0f, 0.0f);
             }
         }
 	}
-    void drawTurnInfoHud(const UIState* s) {
-      if (s->fb_w < 1200) return;
+    int  drawTurnInfoHud(const UIState* s) {
+      if (s->fb_w < 1200) return -1;
 #ifdef __UI_TEST
         active_carrot = 2;
         nGoPosDist = 500000;
@@ -1054,7 +1054,7 @@ protected:
           ui_fill_rect(s->vg, { tbt_x, 5, 790, s->fb_h - 15 }, COLOR_BLACK_ALPHA(120), 30, 2, &stroke_color);
         }
         if (nGoPosDist > 0 && nGoPosTime > 0);
-        else return;
+        else return -1;
         if (s->scene._current_carrot_display == 3);
         else {
           ui_fill_rect(s->vg, { tbt_x, tbt_y - 60, 790, 240 + 60 }, COLOR_BLACK_ALPHA(120), 30, 2, &stroke_color);
@@ -1116,14 +1116,15 @@ protected:
             sprintf(str, "%.1fkm", nGoPosDist / 1000.);
             ui_draw_text(s, tbt_x + 190 + 120, tbt_y + 130, str, 50, COLOR_WHITE, BOLD);
         }
+        return 0;
     }
 public:
-    void draw(const UIState* s) {
+    int draw(const UIState* s) {
         nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BOTTOM);
         SubMaster& sm = *(s->sm);
         if (!sm.alive("modelV2") || !sm.alive("carrotMan") || !sm.alive("carState")) {
             active_carrot = -1;
-            return;
+            return -1;
         }
         const auto carrot_man = sm["carrotMan"].getCarrotMan();
           
@@ -1172,7 +1173,7 @@ public:
 #endif
         drawTurnInfo(s);
         drawSpeedLimit(s);
-        drawTurnInfoHud(s);
+        return drawTurnInfoHud(s);
 
     }
 };
@@ -1607,7 +1608,7 @@ public:
         if (!make_data(s)) return;
         int temp = params.getInt("UseLaneLineSpeedApply");
         if (temp != use_lane_line_speed_apply) {
-            ui_draw_text_a(s, 0, 0, (temp>0)?"LaneMode":"Laneless", 30, COLOR_GREEN, BOLD);
+            ui_draw_text_a(s, 0, 0, (temp>0)?"LaneMode":"Laneless", 30, (temp>0)?COLOR_GREEN:COLOR_YELLOW, BOLD);
             use_lane_line_speed_apply = temp;
         }
         static bool forward = true;
@@ -2104,13 +2105,16 @@ public:
     int     gap_last = 0;
     char    gear_str_last[32] = "";
     int     blink_timer = 0;
+    int     disp_timer = 0;
     float cpuTemp = 0.0f;
     float cpuUsage = 0.0f;
     int   memoryUsage = 0;
     float freeSpace = 0.0f;
+    float voltage = 0.0f;
     void drawHud(UIState* s) {
         int show_device_state = params.getInt("ShowDeviceState");
         blink_timer = (blink_timer + 1) % 16;
+        disp_timer = (disp_timer + 1) % 64; 
         nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BOTTOM);
 
         int x = 140;// 120;
@@ -2161,7 +2165,7 @@ public:
         char cruise_speed[32];
         int cruise_x = bx + 170;
         int cruise_y = by + 15;
-        if(longActive) sprintf(cruise_speed, "%.0f", (s->scene.is_metric)?v_cruise: v_cruise * KM_TO_MILE);
+        if(longActive) sprintf(cruise_speed, "%d", (int)((s->scene.is_metric)?v_cruise: v_cruise * KM_TO_MILE + 0.5));
 		    else sprintf(cruise_speed, "--");
         if (strcmp(cruise_speed_last, cruise_speed) != 0) {
 			    strcpy(cruise_speed_last, cruise_speed);
@@ -2178,13 +2182,13 @@ public:
         int apply_y = by - 50;
 
         if (apply_source.length()) {
-            sprintf(apply_speed_str, "%.0f", (s->scene.is_metric)?apply_speed:apply_speed * KM_TO_MILE);
+            sprintf(apply_speed_str, "%d", (int)((s->scene.is_metric)?apply_speed:apply_speed * KM_TO_MILE + 0.5));
             textColor = COLOR_OCHRE;    // apply speed가 작동되면... 색을 바꾸자.
             ui_draw_text(s, apply_x, apply_y, apply_speed_str, 50, textColor, BOLD, 1.0, 5.0, COLOR_BLACK, COLOR_BLACK);
             ui_draw_text(s, apply_x, apply_y - 50, apply_source.toStdString().c_str(), 30, textColor, BOLD, 1.0, 5.0, COLOR_BLACK, COLOR_BLACK);
         }
 		    else if(abs(cruiseTarget - v_cruise) > 0.5) {
-            sprintf(apply_speed_str, "%.0f", (s->scene.is_metric)?cruiseTarget: cruiseTarget * KM_TO_MILE);
+            sprintf(apply_speed_str, "%d", (int)((s->scene.is_metric)?cruiseTarget: cruiseTarget * KM_TO_MILE + 0.5));
 			      ui_draw_text(s, apply_x, apply_y, apply_speed_str, 50, textColor, BOLD, 1.0, 5.0, COLOR_BLACK, COLOR_BLACK);
             ui_draw_text(s, apply_x, apply_y - 50, "eco", 30, textColor, BOLD, 1.0, 5.0, COLOR_BLACK, COLOR_BLACK);
 		    }
@@ -2295,13 +2299,14 @@ public:
             int disp_speed = 0;
             NVGcolor limit_color = COLOR_GREEN_ALPHA(210);
             if (xSpdLimit > 0 && xSignType != 22) {
-                disp_speed = xSpdLimit;
+                disp_speed = (int)(xSpdLimit * ((s->scene.is_metric)?1:KM_TO_MILE) + 0.5);
                 limit_color = (blink_timer <= 8) ? COLOR_RED_ALPHA(210) : COLOR_YELLOW_ALPHA(210);
                 ui_draw_text(s, dx, dy-45, "CAM", 30, COLOR_WHITE, BOLD);
             }
             else {
                 disp_speed = nRoadLimitSpeed;
-                limit_color = (v_ego * 3.6 > nRoadLimitSpeed + 2) ? COLOR_RED_ALPHA(210) : COLOR_WHITE_ALPHA(210);
+		            disp_speed = (int)(disp_speed * ((s->scene.is_metric)?1.0:KM_TO_MILE) + 0.5);
+                limit_color = (v_ego * 3.6 > disp_speed + 2) ? COLOR_RED_ALPHA(210) : COLOR_WHITE_ALPHA(210);
                 ui_draw_text(s, dx, dy - 45, "LIMIT", 30, COLOR_WHITE, BOLD);
             }
 
@@ -2326,10 +2331,18 @@ public:
             ui_draw_text(s, dx, dy + 40, str, 40, COLOR_WHITE, BOLD);
 
             dx += 150;
-            ui_fill_rect(s->vg, { dx - 65, dy - 38, 130, 90 }, mode_color, 15, 2);
-            ui_draw_text(s, dx, dy-5, "DISK", 25, COLOR_WHITE, BOLD);
-            sprintf(str, "%.0f%%", 100 - freeSpace);
-            ui_draw_text(s, dx, dy + 40, str, 40, COLOR_WHITE, BOLD);
+            if (disp_timer < 32) {
+              ui_fill_rect(s->vg, { dx - 65, dy - 38, 130, 90 }, mode_color, 15, 2);
+              ui_draw_text(s, dx, dy - 5, "DISK", 25, COLOR_WHITE, BOLD);
+              sprintf(str, "%.0f%%", 100 - freeSpace);
+              ui_draw_text(s, dx, dy + 40, str, 40, COLOR_WHITE, BOLD);
+            }
+            else {
+              ui_fill_rect(s->vg, { dx - 65, dy - 38, 130, 90 }, mode_color, 15, 2);
+              ui_draw_text(s, dx, dy - 5, "VOLT", 25, COLOR_WHITE, BOLD);
+              sprintf(str, "%.1fV", voltage);
+              ui_draw_text(s, dx, dy + 40, str, 40, COLOR_WHITE, BOLD);
+            }
         }
     }
     void drawDateTime(const UIState* s) {
@@ -2446,6 +2459,27 @@ public:
         ui_draw_text(s, bx - dw, by + 70, get_tpms_text(rl), 40, get_tpms_color(rl), BOLD);
         ui_draw_text(s, bx + dw, by + 70, get_tpms_text(rr), 40, get_tpms_color(rr), BOLD);
     }
+    void drawTpms3(const UIState* s) {
+      nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BOTTOM);
+      SubMaster& sm = *(s->sm);
+      auto car_state = sm["carState"].getCarState();
+
+      int bx = s->fb_w - 125;
+      int by = s->fb_h - 280 / 2 + 15;
+      auto tpms = car_state.getTpms();
+      float fl = tpms.getFl();
+      float fr = tpms.getFr();
+      float rl = tpms.getRl();
+      float rr = tpms.getRr();
+#ifdef __UI_TEST
+      fl = fr = rl = rr = 29;
+#endif
+      int dw = 80;
+      ui_draw_text(s, bx - dw, by - 55, get_tpms_text(fl), 40, get_tpms_color(fl), BOLD);
+      ui_draw_text(s, bx + dw, by - 55, get_tpms_text(fr), 40, get_tpms_color(fr), BOLD);
+      ui_draw_text(s, bx - dw, by + 70, get_tpms_text(rl), 40, get_tpms_color(rl), BOLD);
+      ui_draw_text(s, bx + dw, by + 70, get_tpms_text(rr), 40, get_tpms_color(rr), BOLD);
+    }
     void makeDeviceInfo(const UIState* s) {
         SubMaster& sm = *(s->sm);
         auto deviceState = sm["deviceState"].getDeviceState();
@@ -2469,6 +2503,9 @@ public:
             }
             if (cpu_size > 0) cpuUsage /= cpu_size;
         }
+
+        auto peripheralState = sm["peripheralState"].getPeripheralState();
+        voltage = peripheralState.getVoltage() / 1000.0;
     }
     void drawDeviceInfo(const UIState* s) {
 #ifdef WSL2
@@ -2642,7 +2679,11 @@ void ui_draw(UIState *s, ModelRenderer* model_renderer, int w, int h) {
   drawCarrot.drawDeviceInfo(s);
   drawCarrot.drawTpms2(s);
 
-  drawTurnInfo.draw(s);
+  int draw_turn_info = drawTurnInfo.draw(s);
+
+  if (draw_turn_info < 0) {
+    drawCarrot.drawTpms3(s);
+  }
 
 
   ui_draw_text_a2(s);
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 9320afd..f264264 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -696,6 +696,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
   //latLongToggles->addItem(new CValueControl("StartAccelApply", "LONG: StartingAccel 2.0x(0)%", "정지->출발시 가속도의 가속율을 지정합니다 0: 사용안함.", "../assets/offroad/icon_road.png", 0, 100, 10));
   //latLongToggles->addItem(new CValueControl("StopAccelApply", "LONG: StoppingAccel -2.0x(0)%", "정지유지시 브레이크압을 조정합니다. 0: 사용안함. ", "../assets/offroad/icon_road.png", 0, 100, 10));
   latLongToggles->addItem(new CValueControl("LaneChangeNeedTorque", "LaneChange need torque", "-1:Disable lanechange, 0: no need torque, 1:need torque", "../assets/offroad/icon_logic.png", -1, 1, 1));
+  latLongToggles->addItem(new CValueControl("LaneChangeDelay", "LaneChange delay", "x0.1sec", "../assets/offroad/icon_logic.png", 0, 100, 5));
   latLongToggles->addItem(new CValueControl("LaneChangeBsd", "LaneChange Bsd", "-1:ignore bsd, 0:BSD detect, 1: block steer torque", "../assets/offroad/icon_logic.png", -1, 1, 1));
   latLongToggles->addItem(new CValueControl("StoppingAccel", "LONG: StoppingStartAccelx0.01(-40)", "", "../assets/offroad/icon_logic.png", -100, 0, 5));
   latLongToggles->addItem(new CValueControl("StopDistanceCarrot", "LONG: StopDistance (600)cm", "", "../assets/offroad/icon_logic.png", 300, 1000, 10));
@@ -836,6 +837,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
   speedToggles->addItem(new CValueControl("AutoNaviSpeedSafetyFactor", "SpeedCameraSafetyFactor(105%)", "", "../assets/offroad/icon_road.png", 80, 120, 1));
   speedToggles->addItem(new CValueControl("AutoNaviSpeedBumpTime", "SpeedBumpTimeDistance(1s)", "", "../assets/offroad/icon_road.png", 1, 50, 1));
   speedToggles->addItem(new CValueControl("AutoNaviSpeedBumpSpeed", "SpeedBumpSpeed(35Km/h)", "", "../assets/offroad/icon_road.png", 10, 100, 5));
+  speedToggles->addItem(new CValueControl("AutoRoadSpeedLimitOffset", "RoadSpeedLimitOffset(-1)", "-1:NotUsed,RoadLimitSpeed+Offset", "../assets/offroad/icon_road.png", -1, 100, 1));
   speedToggles->addItem(new CValueControl("AutoNaviCountDownMode", "NaviCountDown mode(2)", "0: off, 1:tbt+camera, 2:tbt+camera+bump", "../assets/offroad/icon_road.png", 0, 2, 1));
   speedToggles->addItem(new CValueControl("TurnSpeedControlMode", "Turn Speed control mode(1)", "0: off, 1:vision, 2:vision+route, 3: route", "../assets/offroad/icon_road.png", 0, 3, 1));
   speedToggles->addItem(new CValueControl("MapTurnSpeedFactor", "Map TurnSpeed Factor(100)", "", "../assets/offroad/icon_map.png", 50, 300, 5));
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 9e6e0e6..34913a5 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -105,6 +105,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
     "longitudinalPlan",
     "carControl", "carrotMan", "liveTorqueParameters", "lateralPlan", "liveParameters",
     "navRoute", "navInstruction", "navInstructionCarrot", "liveLocationKalman", "liveDelay",
+    "peripheralState",
   });
   prime_state = new PrimeState(this);
   language = QString::fromStdString(Params().get("LanguageSetting"));
diff --git a/system/manager/manager.py b/system/manager/manager.py
index cf2e0df..8be7010 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -79,6 +79,7 @@ def get_default_params():
     ("AutoNaviSpeedBumpSpeed", "35"),
     ("AutoNaviSpeedSafetyFactor", "105"),
     ("AutoNaviSpeedDecelRate", "120"),
+    ("AutoRoadSpeedLimitOffset", "-1"),
     ("AutoNaviCountDownMode", "2"),
     ("TurnSpeedControlMode", "1"),
     ("MapTurnSpeedFactor", "90"),
@@ -91,6 +92,11 @@ def get_default_params():
     ("CruiseButtonTest2", "30"),
     ("CruiseButtonTest3", "1"),
     ("CruiseSpeedUnit", "10"),
+    ("CruiseSpeed1", "30"),
+    ("CruiseSpeed2", "50"),
+    ("CruiseSpeed3", "80"),
+    ("CruiseSpeed4", "110"),
+    ("CruiseSpeed5", "130"),
     ("PaddleMode", "0"),
     ("MyDrivingMode", "3"),
     ("MyDrivingModeAuto", "0"),
@@ -126,6 +132,7 @@ def get_default_params():
     ("UseLaneLineSpeedApply", "0"),
     ("AdjustLaneOffset", "0"),
     ("LaneChangeNeedTorque", "0"),
+    ("LaneChangeDelay", "0"),
     ("LaneChangeBsd", "0"),
     ("MaxAngleFrames", "89"),
     ("LateralTorqueCustom", "0"),
@@ -140,6 +147,8 @@ def get_default_params():
     ("LatMpcAccelCost", "0"),
     ("LatMpcJerkCost", "4"),
     ("LatMpcSteeringRateCost", "700"),
+    ("LatMpcInputOffset", "6"),
+    ("LatMpcOutputOffset", "5"),
     ("CustomSteerMax", "0"),
     ("CustomSteerDeltaUp", "0"),
     ("CustomSteerDeltaDown", "0"),