Merge remote-tracking branch 'upstream/master' into hyundai-match-dash-speed

cereal

@@ -1 +1 @@
-Subproject commit 513dfc7ee001243cd68a57a9d92fe3170fc49c7d
+Subproject commit e4130c90558dfb491e132992dce36e0e620e070a

selfdrive/car/gm/interface.py

@@ -71,10 +71,11 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
+    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV}
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
-    ret.minSteerSpeed = 10 * CV.KPH_TO_MS
+    # Some GMs need some tolerance above 10 kph to avoid a fault
+    ret.minSteerSpeed = 10.1 * CV.KPH_TO_MS
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
     ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
     ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
@@ -138,25 +139,25 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1601. + STD_CARGO_KG
       ret.wheelbase = 2.78
       ret.steerRatio = 15.3
-      ret.centerToFront = ret.wheelbase * 0.49
+      ret.centerToFront = ret.wheelbase * 0.5
 
     elif candidate == CAR.ESCALADE_ESV:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       ret.mass = 2739. + STD_CARGO_KG
       ret.wheelbase = 3.302
       ret.steerRatio = 17.3
-      ret.centerToFront = ret.wheelbase * 0.49
+      ret.centerToFront = ret.wheelbase * 0.5
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
       ret.lateralTuning.pid.kf = 0.000045
       tire_stiffness_factor = 1.0
 
-    elif candidate == CAR.BOLT_EUV:
+    elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV):
       ret.minEnableSpeed = -1
       ret.mass = 1669. + STD_CARGO_KG
-      ret.wheelbase = 2.675
+      ret.wheelbase = 2.63779
       ret.steerRatio = 16.8
-      ret.centerToFront = ret.wheelbase * 0.4
+      ret.centerToFront = 2.15  # measured
       tire_stiffness_factor = 1.0
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -170,6 +171,14 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 1.0
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate == CAR.EQUINOX:
+      ret.minEnableSpeed = -1
+      ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.72
+      ret.steerRatio = 14.4
+      ret.centerToFront = ret.wheelbase * 0.4
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

selfdrive/car/gm/values.py

@@ -58,8 +58,10 @@ class CAR:
   ACADIA = "GMC ACADIA DENALI 2018"
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
+  BOLT_EV = "CHEVROLET BOLT EV 2022"
   BOLT_EUV = "CHEVROLET BOLT EUV 2022"
   SILVERADO = "CHEVROLET SILVERADO 1500 2020"
+  EQUINOX = "CHEVROLET EQUINOX 2019"
 
 
 class Footnote(Enum):
@@ -84,11 +86,13 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
   CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
+  CAR.BOLT_EV: GMCarInfo("Chevrolet Bolt EV 2022-23", "Adaptive Cruise Control (ACC)", footnotes=[], harness=Harness.gm),
   CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
   CAR.SILVERADO: [
     GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm),
     GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", footnotes=[], harness=Harness.gm),
   ],
+  CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22", "Adaptive Cruise Control (ACC)", footnotes=[], harness=Harness.gm),
 }
 
 
@@ -166,13 +170,17 @@ FINGERPRINTS = {
   {
     190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
   }],
+  CAR.EQUINOX: [
+  {
+    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+  }],
 }
 
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
 
-EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
+EV_CAR = {CAR.VOLT, CAR.BOLT_EV, CAR.BOLT_EUV}
 
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO}
+CAMERA_ACC_CAR = {CAR.BOLT_EV, CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
 
 STEER_THRESHOLD = 1.0

selfdrive/car/mazda/interface.py

@@ -10,10 +10,6 @@ EventName = car.CarEvent.EventName
 
 class CarInterface(CarInterfaceBase):
 
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 4.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/mock/interface.py

@@ -28,10 +28,6 @@ class CarInterface(CarInterfaceBase):
     self.yaw_rate = 0.
     self.yaw_rate_meas = 0.
 
-  @staticmethod
-  def compute_gb(accel, speed):
-    return accel
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/tests/routes.py

@@ -21,6 +21,8 @@ non_tested_cars = [
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
   GM.MALIBU,
+  GM.EQUINOX,
+  GM.BOLT_EV,
   HYUNDAI.ELANTRA_GT_I30,
   HYUNDAI.GENESIS_G90,
   HYUNDAI.KIA_OPTIMA_H,

selfdrive/car/torque_data/override.yaml

@@ -25,8 +25,10 @@ KIA EV6 2022: [3.5, 3.0, 0.0]
 RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
 RAM HD 5TH GEN: [1.4, 1.4, 0.0]
 SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
+CHEVROLET BOLT EV 2022: [2.0, 2.0, 0.05]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
 CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
+CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
 VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
 HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-ef5395e5f36550d2b485216eee5406bf6062e9c9
+a4aa1f37c6d966151d3b43a0b51fffbcfa0187b1

selfdrive/test/process_replay/test_processes.py

@@ -38,21 +38,21 @@ original_segments = [
 ]
 
 segments = [
-  ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"),
+  ("BODY", "regen9D38397D30D|2022-09-09--13-12-48--0"),
-  ("HYUNDAI", "regen114E5FF24D8|2022-07-14--17-08-47--0"),
+  ("HYUNDAI", "regenB3953B393C0|2022-09-09--14-49-37--0"),
-  ("HYUNDAI", "d824e27e8c60172c|2022-08-19--17-58-07--2"),
+  ("HYUNDAI", "regen8DB830E5376|2022-09-13--17-24-37--0"),
-  ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"),
+  ("TOYOTA", "regen8FCBB6F06F1|2022-09-09--13-14-07--0"),
-  ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"),
+  ("TOYOTA2", "regen956BFA75300|2022-09-09--14-51-24--0"),
-  ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"),
+  ("TOYOTA3", "regenE909BC2F430|2022-09-09--20-44-49--0"),
-  ("HONDA", "regenE62960EEC38|2022-07-14--19-33-24--0"),
+  ("HONDA", "regenD1D10209015|2022-09-09--14-53-09--0"),
-  ("HONDA2", "regenC3EBD92F029|2022-07-14--19-29-47--0"),
+  ("HONDA2", "regen3F7C2EFDC08|2022-09-09--19-41-19--0"),
-  ("CHRYSLER", "regen38346FB33D0|2022-07-14--18-05-26--0"),
+  ("CHRYSLER", "regen92783EAE66B|2022-09-09--13-15-44--0"),
-  ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"),
+  ("RAM", "regenBE5DAAEF30F|2022-09-13--17-06-24--0"),
-  ("SUBARU", "regen54A1E2BE5AA|2022-07-14--18-07-50--0"),
+  ("SUBARU", "regen8A363AF7E14|2022-09-13--17-20-39--0"),
-  ("GM", "regen76027B408B7|2022-08-16--19-56-58--0"),
+  ("GM", "regen31EA3F9A37C|2022-09-09--21-06-36--0"),
-  ("NISSAN", "regenCA0B0DC946E|2022-07-14--18-10-17--0"),
+  ("NISSAN", "regenAA21ADE5921|2022-09-09--19-44-37--0"),
-  ("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"),
+  ("VOLKSWAGEN", "regenA1BF4D17761|2022-09-09--19-46-24--0"),
-  ("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"),
+  ("MAZDA", "regen1994C97E977|2022-09-13--16-34-44--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done

selfdrive/ui/qt/maps/map.cc

@@ -204,7 +204,8 @@ void MapWindow::updateState(const UIState &s) {
 
   if (zoom_counter == 0) {
     m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
-  } else {
+    zoom_counter = -1;
+  } else if (zoom_counter > 0) {
     zoom_counter--;
   }
 

selfdrive/ui/qt/maps/map.h

@@ -98,7 +98,7 @@ private:
   // Panning
   QPointF m_lastPos;
   int pan_counter = 0;
-  int zoom_counter = 0;
+  int zoom_counter = -1;
 
   // Position
   std::optional<QMapbox::Coordinate> last_position;

selfdrive/ui/qt/offroad/settings.cc

@@ -134,8 +134,8 @@ void TogglesPanel::updateToggles() {
       e2e_toggle->setEnabled(false);
       params.remove("EndToEndLong");
 
-      const QString no_long = "openpilot longitudinal control is not currently available for this car.";
+      const QString no_long = tr("openpilot longitudinal control is not currently available for this car.");
-      const QString exp_long = "Enable experimental longitudinal control to enable this.";
+      const QString exp_long = tr("Enable experimental longitudinal control to enable this.");
       e2e_toggle->setDescription("<b>" + (CP.getExperimentalLongitudinalAvailable() ? exp_long : no_long) + "</b><br><br>" + e2e_description);
     }
 

selfdrive/ui/qt/offroad/software_settings.cc

@@ -45,7 +45,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   installBtn = new ButtonControl(tr("Install Update"), tr("INSTALL"));
   connect(installBtn, &ButtonControl::clicked, [=]() {
     installBtn->setEnabled(false);
-    params.putBool("DoShutdown", true);
+    params.putBool("DoReboot", true);
   });
   addItem(installBtn);
 

selfdrive/ui/translations/main_ja.ts

@@ -985,42 +985,42 @@ location set</source>
     <message>
         <location filename="../qt/offroad/software_settings.cc" line="+24"/>
         <source>Updates are only downloaded while the car is off.</source>
-        <translation type="unfinished"></translation>
+        <translation>車の電源がオフの間のみ、アップデートのダウンロードが行われます。</translation>
     </message>
     <message>
         <location line="+5"/>
         <source>Current Version</source>
-        <translation type="unfinished"></translation>
+        <translation>現在のバージョン</translation>
     </message>
     <message>
         <location line="+4"/>
         <source>Download</source>
-        <translation type="unfinished"></translation>
+        <translation>ダウンロード</translation>
     </message>
     <message>
         <location line="+12"/>
         <source>Install Update</source>
-        <translation type="unfinished"></translation>
+        <translation>アップデート</translation>
     </message>
     <message>
         <location line="+0"/>
         <source>INSTALL</source>
-        <translation type="unfinished"></translation>
+        <translation>インストール</translation>
     </message>
     <message>
         <location line="+8"/>
         <source>Target Branch</source>
-        <translation type="unfinished"></translation>
+        <translation>対象のブランチ</translation>
     </message>
     <message>
         <location line="+0"/>
         <source>SELECT</source>
-        <translation type="unfinished"></translation>
+        <translation>選択</translation>
     </message>
     <message>
         <location line="+13"/>
         <source>Select a branch</source>
-        <translation type="unfinished"></translation>
+        <translation>ブランチを選択</translation>
     </message>
     <message>
         <location line="+12"/>
@@ -1187,7 +1187,17 @@ location set</source>
         <translation>アクセルとブレーキの制御をopenpilotに任せます。openpilotが人間と同じように運転します。最初期の実験段階です。</translation>
     </message>
     <message>
-        <location line="-55"/>
+        <location line="+24"/>
+        <source>openpilot longitudinal control is not currently available for this car.</source>
+        <translation>openpilotによるアクセル制御は、この車では現在利用できません。</translation>
+    </message>
+    <message>
+        <location line="+1"/>
+        <source>Enable experimental longitudinal control to enable this.</source>
+        <translation>ここ機能を使う為には、「実験段階のopenpilotによるアクセル制御」を先に有効化してください。</translation>
+    </message>
+    <message>
+        <location line="-80"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ</translation>
     </message>

selfdrive/ui/translations/main_ko.ts

@@ -1187,7 +1187,17 @@ location set</source>
         <translation>주행모델이 가속과 감속을 제어하도록 하면 openpilot은 운전자가 생각하는것처럼 운전합니다. (매우 실험적)</translation>
     </message>
     <message>
-        <location line="-55"/>
+        <location line="+24"/>
+        <source>openpilot longitudinal control is not currently available for this car.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location line="+1"/>
+        <source>Enable experimental longitudinal control to enable this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location line="-80"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>가속페달 조작시 해제</translation>
     </message>

selfdrive/ui/translations/main_pt-BR.ts

@@ -1191,7 +1191,17 @@ trabalho definido</translation>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="-55"/>
+        <location line="+24"/>
+        <source>openpilot longitudinal control is not currently available for this car.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location line="+1"/>
+        <source>Enable experimental longitudinal control to enable this.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location line="-80"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>Desacionar Com Pedal Do Acelerador</translation>
     </message>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -1167,7 +1167,7 @@ location set</source>
     <message>
         <location line="+11"/>
         <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
-        <translation type="unfinished"></translation>
+        <translation>🌮 端对端纵向控制（实验性功能） 🌮</translation>
     </message>
     <message>
         <location line="+6"/>
@@ -1182,10 +1182,20 @@ location set</source>
     <message>
         <location line="+42"/>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
+        <translation>让驾驶模型直接控制油门和刹车，openpilot将会模仿人类司机的驾驶方式。该功能仍非常实验性。</translation>
+    </message>
+    <message>
+        <location line="+24"/>
+        <source>openpilot longitudinal control is not currently available for this car.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location line="+1"/>
+        <source>Enable experimental longitudinal control to enable this.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location line="-55"/>
+        <location line="-80"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>踩油门时取消控制</translation>
     </message>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -985,42 +985,42 @@ location set</source>
     <message>
         <location filename="../qt/offroad/software_settings.cc" line="+24"/>
         <source>Updates are only downloaded while the car is off.</source>
-        <translation type="unfinished"></translation>
+        <translation>系統更新只會在熄火時下載。</translation>
     </message>
     <message>
         <location line="+5"/>
         <source>Current Version</source>
-        <translation type="unfinished"></translation>
+        <translation>當前版本</translation>
     </message>
     <message>
         <location line="+4"/>
         <source>Download</source>
-        <translation type="unfinished"></translation>
+        <translation>下載</translation>
     </message>
     <message>
         <location line="+12"/>
         <source>Install Update</source>
-        <translation type="unfinished"></translation>
+        <translation>安裝更新</translation>
     </message>
     <message>
         <location line="+0"/>
         <source>INSTALL</source>
-        <translation type="unfinished"></translation>
+        <translation>安裝</translation>
     </message>
     <message>
         <location line="+8"/>
         <source>Target Branch</source>
-        <translation type="unfinished"></translation>
+        <translation>目標分支</translation>
     </message>
     <message>
         <location line="+0"/>
         <source>SELECT</source>
-        <translation type="unfinished"></translation>
+        <translation>選取</translation>
     </message>
     <message>
         <location line="+13"/>
         <source>Select a branch</source>
-        <translation type="unfinished"></translation>
+        <translation>選取一個分支</translation>
     </message>
     <message>
         <location line="+12"/>
@@ -1169,25 +1169,35 @@ location set</source>
     <message>
         <location line="+11"/>
         <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
-        <translation type="unfinished"></translation>
+        <translation>🌮 端對端縱向控制（實驗性功能） 🌮</translation>
     </message>
     <message>
         <location line="+6"/>
         <source>Experimental openpilot longitudinal control</source>
-        <translation type="unfinished"></translation>
+        <translation>使用 openpilot 縱向控制（實驗）</translation>
     </message>
     <message>
         <location line="+1"/>
         <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;b&gt;注意：這台車的 openpilot 縱向控制仍然是實驗中的功能，開啟這功能將會關閉自動緊急煞車 (AEB)。&lt;/b&gt;</translation>
     </message>
     <message>
         <location line="+42"/>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
-        <translation type="unfinished"></translation>
+        <translation>讓駕駛模型直接控製油門和剎車，openpilot將會模仿人類司機的駕駛方式。該功能仍非常實驗性。</translation>
+    </message>
+    <message>
+        <location line="+24"/>
+        <source>openpilot longitudinal control is not currently available for this car.</source>
+        <translation>openpilot 縱向控制目前不適用於這輛車。</translation>
+    </message>
+    <message>
+        <location line="+1"/>
+        <source>Enable experimental longitudinal control to enable this.</source>
+        <translation>打開縱向控制（實驗）以啟用此功能。</translation>
     </message>
     <message>
-        <location line="-55"/>
+        <location line="-80"/>
         <source>Disengage On Accelerator Pedal</source>
         <translation>油門取消控車</translation>
     </message>