ui: move alpha longitudinal control toggle to Developer panel (#34467)

* ui: move alpha longitudinal control toggle to Developer panel * show toggle in ui preview * Revert "show toggle in ui preview" This reverts commit 4b12964726. * write to CarParamsPersistent on ui init * no need for new msg * missed * no icon
3 months ago · 45de7664bc
parent a90720690c
commit 45de7664bc
15 changed files with 177 additions and 155 deletions
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@ -24,6 +24,21 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
  });
  addItem(longManeuverToggle);

+  experimentalLongitudinalToggle = new ParamControl(
+    "ExperimentalLongitudinalEnabled",
+    tr("openpilot Longitudinal Control (Alpha)"),
+    QString("<b>%1</b><br><br>%2")
+      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
+              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
+    ""
+  );
+  experimentalLongitudinalToggle->setConfirmation(true, false);
+  QObject::connect(experimentalLongitudinalToggle, &ParamControl::toggleFlipped, [=]() {
+    updateToggles(offroad);
+  });
+  addItem(experimentalLongitudinalToggle);
+
  // Joystick and longitudinal maneuvers should be hidden on release branches
  is_release = params.getBool("IsReleaseBranch");

@ -34,18 +49,40 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
 void DeveloperPanel::updateToggles(bool _offroad) {
  for (auto btn : findChildren<ParamControl *>()) {
    btn->setVisible(!is_release);
-    btn->setEnabled(_offroad);
+
+    /*
+     * experimentalLongitudinalToggle should be toggelable when:
+     * - visible, and
+     * - during onroad & offroad states
+     */
+    if (btn != experimentalLongitudinalToggle) {
+      btn->setEnabled(_offroad);
+    }
  }

-  // longManeuverToggle should not be toggleable if the car don't have longitudinal control
+  // longManeuverToggle and experimentalLongitudinalToggle should not be toggleable if the car does not have longitudinal control
  auto cp_bytes = params.get("CarParamsPersistent");
  if (!cp_bytes.empty()) {
    AlignedBuffer aligned_buf;
    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
+      params.remove("ExperimentalLongitudinalEnabled");
+      experimentalLongitudinalToggle->setEnabled(false);
+    }
+
+    /*
+     * experimentalLongitudinalToggle should be visible when:
+     * - is not a release branch, and
+     * - the car supports experimental longitudinal control (alpha)
+     */
+    experimentalLongitudinalToggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
+
    longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
  } else {
    longManeuverToggle->setEnabled(false);
+    experimentalLongitudinalToggle->setVisible(false);
  }

  offroad = _offroad;
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@ -12,6 +12,7 @@ private:
  Params params;
  ParamControl* joystickToggle;
  ParamControl* longManeuverToggle;
+  ParamControl* experimentalLongitudinalToggle;
  bool is_release;
  bool offroad;

--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@ -24,15 +24,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
      "../assets/img_chffr_wheel.png",
    },
-    {
-      "ExperimentalLongitudinalEnabled",
-      tr("openpilot Longitudinal Control (Alpha)"),
-      QString("<b>%1</b><br><br>%2")
-      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
-      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
-              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
-      "../assets/offroad/icon_speed_limit.png",
-    },
    {
      "ExperimentalMode",
      tr("Experimental Mode"),
@ -101,11 +92,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
  // Toggles with confirmation dialogs
  toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg");
  toggles["ExperimentalMode"]->setConfirmation(true, true);
-  toggles["ExperimentalLongitudinalEnabled"]->setConfirmation(true, false);
-
-  connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() {
-    updateToggles();
-  });
 }

 void TogglesPanel::updateState(const UIState &s) {
@ -130,7 +116,6 @@ void TogglesPanel::showEvent(QShowEvent *event) {

 void TogglesPanel::updateToggles() {
  auto experimental_mode_toggle = toggles["ExperimentalMode"];
-  auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
  const QString e2e_description = QString("%1<br>"
                                          "<h4>%2</h4><br>"
                                          "%3<br>"
@ -151,10 +136,6 @@ void TogglesPanel::updateToggles() {
    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();

-    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
-      params.remove("ExperimentalLongitudinalEnabled");
-    }
-    op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
    if (hasLongitudinalControl(CP)) {
      // normal description and toggle
      experimental_mode_toggle->setEnabled(true);
@ -183,7 +164,6 @@ void TogglesPanel::updateToggles() {
    experimental_mode_toggle->refresh();
  } else {
    experimental_mode_toggle->setDescription(e2e_description);
-    op_long_toggle->setVisible(false);
  }
 }

--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@ -9,7 +9,7 @@ import pyautogui
 import pickle
 import time

-from cereal import log
+from cereal import car, log
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 from cereal.messaging import PubMaster, log_from_bytes, sub_sock
 from openpilot.common.basedir import BASEDIR
@ -51,6 +51,10 @@ def setup_settings_software(click, pm: PubMaster):
  time.sleep(UI_DELAY)

 def setup_settings_developer(click, pm: PubMaster):
+  CP = car.CarParams()
+  CP.experimentalLongitudinalAvailable = True
+  Params().put("CarParamsPersistent", CP.to_bytes())
+
  setup_settings_device(click, pm)
  click(278, 960)
  time.sleep(UI_DELAY)
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@ -123,6 +123,18 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation>وضع المناورة الطولية</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>التحكم الطولي openpilot (ألفا)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>تحذير: التحكم الطولي في openpilot في المرحلة ألفا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>في هذه السيارة يعمل openpilot افتراضياً بالشكل المدمج في التحكم التكيفي في السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي ألفا من openpilot.</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@ -1073,18 +1085,6 @@ This may take up to a minute.</source>
        <source>Enable driver monitoring even when openpilot is not engaged.</source>
        <translation>تمكين مراقبة السائق حتى عندما لا يكون نظام OpenPilot مُفعّلاً.</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished">التحكم الطولي openpilot (ألفا)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished">تحذير: التحكم الطولي في openpilot في المرحلة ألفا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished">في هذه السيارة يعمل openpilot افتراضياً بالشكل المدمج في التحكم التكيفي في السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي ألفا من openpilot.</translation>
-    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@ -123,6 +123,18 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@ -1057,18 +1069,6 @@ This may take up to a minute.</source>
        <source>Enable driver monitoring even when openpilot is not engaged.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@ -123,6 +123,18 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation>Modo de maniobra longitudinal</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>Control longitudinal de openpilot (fase experimental)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>AVISO: el control longitudinal de openpilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>En este automóvil, openpilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de openpilot (aún en fase experimental).</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@ -1057,18 +1069,6 @@ Esto puede tardar un minuto.</translation>
        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
        <translation>Activar el control longitudinal (fase experimental) para permitir el modo Experimental.</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished">Control longitudinal de openpilot (fase experimental)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished">AVISO: el control longitudinal de openpilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished">En este automóvil, openpilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de openpilot (aún en fase experimental).</translation>
-    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@ -123,6 +123,18 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation>Mode manœuvre longitudinale</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>Contrôle longitudinal openpilot (Alpha)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>ATTENTION : le contrôle longitudinal openpilot est en alpha pour cette voiture et désactivera le freinage d&apos;urgence automatique (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>Sur cette voiture, openpilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d&apos;openpilot. Activez ceci pour passer au contrôle longitudinal openpilot. Il est recommandé d&apos;activer le mode expérimental lors de l&apos;activation du contrôle longitudinal openpilot alpha.</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@ -1057,18 +1069,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
        <source>Enable driver monitoring even when openpilot is not engaged.</source>
        <translation>Activer la surveillance conducteur lorsque openpilot n&apos;est pas actif.</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished">Contrôle longitudinal openpilot (Alpha)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished">ATTENTION : le contrôle longitudinal openpilot est en alpha pour cette voiture et désactivera le freinage d&apos;urgence automatique (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished">Sur cette voiture, openpilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d&apos;openpilot. Activez ceci pour passer au contrôle longitudinal openpilot. Il est recommandé d&apos;activer le mode expérimental lors de l&apos;activation du contrôle longitudinal openpilot alpha.</translation>
-    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@ -123,6 +123,18 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation>アクセル制御マニューバー</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>openpilotアクセル制御(Alpha)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>この車ではopenpilotのアクセル制御はアルファ版であり、自動緊急ブレーキ(AEB)が無効化されます。</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>この車では、openpilotは車両内蔵のACC(アダプティブクルーズコントロール)をデフォルトとして使用し、openpilotのアクセル制御は無効化されています。アクセル制御をopenpilotに切り替えるにはこの設定を有効にしてください。また同時にExperimentalモードを推奨します。</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@ -1053,18 +1065,6 @@ This may take up to a minute.</source>
        <source>Enable driver monitoring even when openpilot is not engaged.</source>
        <translation>openpilotが作動していない場合でも運転者モニタリングを有効にする。</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished">openpilotアクセル制御(Alpha)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished">この車ではopenpilotのアクセル制御はアルファ版であり、自動緊急ブレーキ(AEB)が無効化されます。</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished">この車では、openpilotは車両内蔵のACC(アダプティブクルーズコントロール)をデフォルトとして使用し、openpilotのアクセル制御は無効化されています。アクセル制御をopenpilotに切り替えるにはこの設定を有効にしてください。また同時にExperimentalモードを推奨します。</translation>
-    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@ -123,6 +123,18 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation>롱컨 기동 모드</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished">openpilot 가감속 제어 (알파)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished">경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다.</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished">이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@ -1053,18 +1065,6 @@ This may take up to a minute.</source>
        <source>Enable driver monitoring even when openpilot is not engaged.</source>
        <translation>Openpilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다.</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished">openpilot 가감속 제어 (알파)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished">경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다.</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished">이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
-    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@ -123,6 +123,18 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation>Modo Longitudinal Maneuver</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>Controle Longitudinal openpilot (Embrionário)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>AVISO: o controle longitudinal openpilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal openpilot.</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@ -1057,18 +1069,6 @@ Isso pode levar até um minuto.</translation>
        <source>Enable driver monitoring even when openpilot is not engaged.</source>
        <translation>Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado.</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished">Controle Longitudinal openpilot (Embrionário)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished">AVISO: o controle longitudinal openpilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished">Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal openpilot.</translation>
-    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@ -123,6 +123,18 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished">ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished">คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished">โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@ -1053,18 +1065,6 @@ This may take up to a minute.</source>
        <source>Enable driver monitoring even when openpilot is not engaged.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished">ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished">คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished">โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha</translation>
-    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@ -123,6 +123,18 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@ -1051,18 +1063,6 @@ This may take up to a minute.</source>
        <source>Enable driver monitoring even when openpilot is not engaged.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@ -123,6 +123,18 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished">openpilot纵向控制（Alpha 版）</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished">警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished">在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@ -1053,18 +1065,6 @@ This may take up to a minute.</source>
        <source>Enable driver monitoring even when openpilot is not engaged.</source>
        <translation>即使在openpilot未激活时也启用驾驶员监控。</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished">openpilot纵向控制（Alpha 版）</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished">警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished">在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。</translation>
-    </message>
 </context>
 <context>
    <name>Updater</name>
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@ -123,6 +123,18 @@
        <source>Longitudinal Maneuver Mode</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished">openpilot 縱向控制 (Alpha 版)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished">警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished">在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@ -1053,18 +1065,6 @@ This may take up to a minute.</source>
        <source>Enable driver monitoring even when openpilot is not engaged.</source>
        <translation>即使在openpilot未激活時也啟用駕駛監控。</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished">openpilot 縱向控制 (Alpha 版)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished">警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished">在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。</translation>
-    </message>
 </context>
 <context>
    <name>Updater</name>