# Page: cruise
# Edit this file. Run compile_settings_ui.py to emit settings_ui.json.
id: cruise
label: Cruise
icon: cruise_control
order: 2
remote_configurable: true
description: Longitudinal control, speed limits, and cruise behavior
sections:
- id: core_cruise_features
  title: ''
  description: ''
  items:
  - key: ExperimentalMode
    widget: toggle
    title: Experimental Mode
    enablement:
    - $ref: '#/macros/longitudinal'
  - key: DynamicExperimentalControl
    widget: toggle
    title: Dynamic Experimental Control
    description: Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.
    visibility:
    - $ref: '#/macros/longitudinal'
    enablement:
    - $ref: '#/macros/longitudinal'
  - key: DisengageOnAccelerator
    widget: toggle
    title: Disengage Cruise on Accelerator Pedal
    description: When enabled, pressing the accelerator pedal will disengage longitudinal control.
  - key: LongitudinalPersonality
    widget: multiple_button
    title: Driving Personality
    description: Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive
      with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can
      cycle through these personalities with your steering wheel distance button.
    options:
    - value: 0
      label: Aggressive
    - value: 1
      label: Standard
    - value: 2
      label: Relaxed
    enablement:
    - $ref: '#/macros/longitudinal'
  - key: IntelligentCruiseButtonManagement
    widget: toggle
    title: Intelligent Cruise Button Management (ICBM) (Alpha)
    visibility:
    - type: capability
      field: icbm_available
      equals: true
    enablement:
    - $ref: '#/macros/offroad'
    - type: not
      condition:
        type: capability
        field: has_longitudinal_control
        equals: true
- id: custom_acc_increments
  title: Custom ACC Speed Intervals
  description: ''
  enablement:
  - $ref: '#/macros/offroad'
  - type: any
    conditions:
    - type: all
      conditions:
      - type: capability
        field: has_longitudinal_control
        equals: true
      - type: not
        condition:
          type: capability
          field: pcm_cruise
          equals: true
    - type: capability
      field: has_icbm
      equals: true
  items:
  - key: CustomAccIncrementsEnabled
    widget: toggle
    title: Enable Custom ACC Speed Intervals
    enablement:
    - $ref: '#/macros/offroad'
    - type: any
      conditions:
      - type: all
        conditions:
        - type: capability
          field: has_longitudinal_control
          equals: true
        - type: not
          condition:
            type: capability
            field: pcm_cruise
            equals: true
      - type: capability
        field: has_icbm
        equals: true
  sub_panels:
  - id: custom_acc_intervals
    label: Custom ACC Speed Intervals Settings
    trigger_key: CustomAccIncrementsEnabled
    trigger_condition:
      type: param
      key: CustomAccIncrementsEnabled
      equals: true
    items:
    - key: CustomAccShortPressIncrement
      widget: option
      title: Short Press Increment
      min: 1
      max: 10
      step: 1
      enablement:
      - type: param
        key: CustomAccIncrementsEnabled
        equals: true
    - key: CustomAccLongPressIncrement
      widget: option
      title: Long Press Increment
      min: 1
      max: 10
      step: 1
      enablement:
      - type: param
        key: CustomAccIncrementsEnabled
        equals: true
- id: speed_limits
  title: Speed Limits
  description: Speed limit detection and offset behavior
  items: []
  sub_panels:
  - id: speed_limit_settings
    label: Speed Limit Settings
    trigger_key: SpeedLimitMode
    items:
    - key: SpeedLimitMode
      widget: multiple_button
      title: Speed Limit Assist Mode
      options:
      - value: 0
        label: 'Off'
      - value: 1
        label: Information
      - value: 2
        label: Warning
      - value: 3
        label: Assist
        enablement:
        - type: any
          conditions:
          - type: capability
            field: has_longitudinal_control
            equals: true
          - type: capability
            field: has_icbm
            equals: true
        - type: not
          condition:
            type: capability
            field: brand
            equals: rivian
        - type: not
          condition:
            type: all
            conditions:
            - type: capability
              field: brand
              equals: tesla
            - type: capability
              field: is_sp_release
              equals: true
    - key: SpeedLimitPolicy
      widget: multiple_button
      title: Speed Limit Source
      options:
      - value: 0
        label: Car State Only
      - value: 1
        label: Map Data Only
      - value: 2
        label: Car State Priority
      - value: 3
        label: Map Data Priority
      - value: 4
        label: Combined
    - key: SpeedLimitOffsetType
      widget: multiple_button
      title: Speed Limit Offset Type
      options:
      - value: 0
        label: 'Off'
      - value: 1
        label: Fixed
      - value: 2
        label: Percentage
    - key: SpeedLimitValueOffset
      widget: option
      title: Speed Limit Offset Value
      min: -30
      max: 30
      step: 1
      unit:
        metric: km/h
        imperial: mph
      visibility:
      - type: param_compare
        key: SpeedLimitOffsetType
        op: '>'
        value: 0
- id: smart_cruise
  title: Smart Cruise Control
  description: ''
  enablement:
  - type: any
    conditions:
    - type: capability
      field: has_longitudinal_control
      equals: true
    - type: capability
      field: has_icbm
      equals: true
  items:
  - key: SmartCruiseControlVision
    widget: toggle
    title: Vision
    description: Use vision path predictions to estimate the appropriate speed to drive through turns ahead.
    visibility:
    - type: any
      conditions:
      - type: capability
        field: has_longitudinal_control
        equals: true
      - type: capability
        field: has_icbm
        equals: true
    enablement:
    - type: any
      conditions:
      - type: capability
        field: has_longitudinal_control
        equals: true
      - type: capability
        field: has_icbm
        equals: true
  - key: SmartCruiseControlMap
    widget: toggle
    title: Map
    description: Use map data to estimate the appropriate speed to drive through turns ahead.
    visibility:
    - type: any
      conditions:
      - type: capability
        field: has_longitudinal_control
        equals: true
      - type: capability
        field: has_icbm
        equals: true
    enablement:
    - type: any
      conditions:
      - type: capability
        field: has_longitudinal_control
        equals: true
      - type: capability
        field: has_icbm
        equals: true