Revert "experimental mode: gate navigate on openpilot (#28883)" (#29005)

This reverts commit f973d605b2.

selfdrive/controls/controlsd.py

@@ -134,6 +134,8 @@ class Controls:
     # cleanup old params
     if not self.CP.experimentalLongitudinalAvailable or is_release_branch():
       self.params.remove("ExperimentalLongitudinalEnabled")
+    if not self.CP.openpilotLongitudinalControl:
+      self.params.remove("ExperimentalMode")
 
     self.CC = car.CarControl.new_message()
     self.CS_prev = car.CarState.new_message()
@@ -843,7 +845,7 @@ class Controls:
     self.prof.checkpoint("Ratekeeper", ignore=True)
 
     self.is_metric = self.params.get_bool("IsMetric")
-    self.experimental_mode = self.params.get_bool("ExperimentalMode")
+    self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
 
     # Sample data from sockets and get a carState
     CS = self.data_sample()

selfdrive/controls/lib/drive_helpers.py

@@ -132,7 +132,7 @@ class VCruiseHelper:
     if self.CP.pcmCruise:
       return
 
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode and self.CP.openpilotLongitudinalControl else V_CRUISE_INITIAL
+    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
 
     # 250kph or above probably means we never had a set speed
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:

selfdrive/controls/lib/longitudinal_planner.py

@@ -90,7 +90,7 @@ class LongitudinalPlanner:
     if self.param_read_counter % 50 == 0:
       self.read_param()
     self.param_read_counter += 1
-    self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode and self.CP.openpilotLongitudinalControl else 'acc'
+    self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
 
     v_ego = sm['carState'].vEgo
     v_cruise_kph = sm['controlsState'].vCruise

selfdrive/modeld/modeld.cc

@@ -62,8 +62,6 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
   PubMaster pm({"modelV2", "cameraOdometry"});
   SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel"});
 
-  Params params;
-
   // setup filter to track dropped frames
   FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ);
 
@@ -142,10 +140,9 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
     // Enable/disable nav features
     uint64_t timestamp_llk = sm["navModel"].getNavModel().getLocationMonoTime();
     bool nav_valid = sm["navModel"].getValid() && (nanos_since_boot() - timestamp_llk < 1e9);
-    bool use_nav = nav_valid && params.getBool("ExperimentalMode");
+    if (!nav_enabled && nav_valid) {
-    if (!nav_enabled && use_nav) {
       nav_enabled = true;
-    } else if (nav_enabled && !use_nav) {
+    } else if (nav_enabled && !nav_valid) {
       memset(nav_features, 0, sizeof(float)*NAV_FEATURE_LEN);
       nav_enabled = false;
     }

selfdrive/ui/qt/offroad/settings.cc

@@ -125,22 +125,19 @@ void TogglesPanel::showEvent(QShowEvent *event) {
 }
 
 void TogglesPanel::updateToggles() {
-  auto experimental_mode_toggle = toggles["ExperimentalMode"];
+  auto e2e_toggle = toggles["ExperimentalMode"];
   auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
-
+  const QString e2e_description = QString("%1<br>"
-  QMap<QString, QString> exp_features;
+                                          "<h4>%2</h4><br>"
-  exp_features["e2e_long"] = tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. "
+                                          "%3<br>"
-                                "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.");
+                                          "<h4>%4</h4><br>"
-  exp_features["nav_on_op"] = tr("When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. "
+                                          "%5")
-                                 "Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.");
+                                  .arg(tr("openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:"))
-  exp_features["visualization"] = tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.");
+                                  .arg(tr("🌮 End-to-End Longitudinal Control 🌮"))
-
+                                  .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. "
-  // Ordering of the headers
+                                       "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected."))
-  QVector<QPair<QString, QString>> exp_features_headers {
+                                  .arg(tr("New Driving Visualization"))
-    {"e2e_long", tr("🌮 End-to-End Longitudinal Control 🌮")},
+                                  .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner."));
-    {"nav_on_op", tr("Navigate on openpilot")},
-    {"visualization", tr("New Driving Visualization")}
-  };
 
   const bool is_release = params.getBool("IsReleaseBranch");
   auto cp_bytes = params.get("CarParamsPersistent");
@@ -155,35 +152,34 @@ void TogglesPanel::updateToggles() {
     op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
     if (hasLongitudinalControl(CP)) {
       // normal description and toggle
+      e2e_toggle->setEnabled(true);
+      e2e_toggle->setDescription(e2e_description);
       long_personality_setting->setEnabled(true);
     } else {
       // no long for now
+      e2e_toggle->setEnabled(false);
       long_personality_setting->setEnabled(false);
+      params.remove("ExperimentalMode");
 
-      // prepended note that end-to-end longitudinal control will not be used
+      const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
-      const QString unavailable = tr("End-to-End Longitudinal Control is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
 
       QString long_desc = unavailable + " " + \
                           tr("openpilot longitudinal control may come in a future update.");
       if (CP.getExperimentalLongitudinalAvailable()) {
         if (is_release) {
-          long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with End-to-End Longitudinal Control, on non-release branches.");
+          long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
         } else {
-          long_desc = tr("Enable experimental longitudinal control to use End-to-End Longitudinal Control.");
+          long_desc = tr("Enable experimental longitudinal control to allow Experimental mode.");
         }
       }
-      exp_features["e2e_long"].prepend("<b>" + long_desc + "</b><br><br>");
+      e2e_toggle->setDescription("<b>" + long_desc + "</b><br><br>" + e2e_description);
     }
+
+    e2e_toggle->refresh();
   } else {
+    e2e_toggle->setDescription(e2e_description);
     op_long_toggle->setVisible(false);
   }
-
-  // set experimental mode toggle description
-  QString e2e_description = tr("openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:") + "<br>";
-  for (const auto& kv : exp_features_headers) {
-    e2e_description += QString("<h4>%1</h4><br>%2<br>").arg(kv.second).arg(exp_features.value(kv.first));
-  }
-  experimental_mode_toggle->setDescription(e2e_description);
 }
 
 DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {

selfdrive/ui/qt/onroad.cc

@@ -188,7 +188,9 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
 }
 
 void ExperimentalButton::changeMode() {
-  if (params.getBool("ExperimentalModeConfirmed")) {
+  const auto cp = (*uiState()->sm)["carParams"].getCarParams();
+  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
+  if (can_change) {
     params.putBool("ExperimentalMode", !experimental_mode);
   }
 }
@@ -452,10 +454,8 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   }
 
   // paint path
-  const bool show_e2e_path = (sm["controlsState"].getControlsState().getExperimentalMode() &&
-                              scene.longitudinal_control);
   QLinearGradient bg(0, height(), 0, 0);
-  if (show_e2e_path) {
+  if (sm["controlsState"].getControlsState().getExperimentalMode()) {
     // The first half of track_vertices are the points for the right side of the path
     // and the indices match the positions of accel from uiPlan
     const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();

selfdrive/ui/translations/main_de.ts

@@ -1083,10 +1083,18 @@ This may take up to a minute.</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten zur Straßengewandten Weitwinkelkamera, um manche Kurven besser zu zeigen. Außerdem wird das Experimenteller Modus logo oben rechts angezeigt.</translation>
     </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt.</translation>
+    </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
+        <translation>Aktiviere den experimentellen Openpilot Tempomaten für experimentelle Funktionen.</translation>
+    </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
         <translation type="unfinished"></translation>
@@ -1120,23 +1128,7 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>End-to-End Longitudinal Control is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with End-to-End Longitudinal Control, on non-release branches.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to use End-to-End Longitudinal Control.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigate on openpilot</source>
         <translation type="unfinished"></translation>
     </message>
 </context>

selfdrive/ui/translations/main_ja.ts

@@ -1075,10 +1075,18 @@ This may take up to a minute.</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>新しい運転画面では、低速時に広角カメラの映像を表示することで、曲がる際の道路の視覚を向上します。実験段階を表すマークが右上に表示されます。</translation>
     </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>この車のACCがアクセル制御を行うため実験モードを利用することができません。</translation>
+    </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
+        <translation>実験段階のopenpilotによるアクセル制御を有効にしてください。</translation>
+    </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
         <translation type="unfinished"></translation>
@@ -1112,23 +1120,7 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>End-to-End Longitudinal Control is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with End-to-End Longitudinal Control, on non-release branches.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to use End-to-End Longitudinal Control.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigate on openpilot</source>
         <translation type="unfinished"></translation>
     </message>
 </context>

selfdrive/ui/translations/main_ko.ts

@@ -1077,10 +1077,18 @@ This may take up to a minute.</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>주행 시각화는 저속에서 도로를 향하는 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드의 로고도 우측상단에 표시됩니다.</translation>
     </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>차량에 장착된 ACC가 롱컨트롤에 사용되기 때문에 현재 이 차량은 실험적 모드를 사용할 수 없습니다.</translation>
+    </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation>오픈파일럿 롱컨트롤은 향후 업데이트에서 제공될 수 있습니다.</translation>
     </message>
+    <message>
+        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
+        <translation>실험적 롱컨트롤을 사용하려면 실험적 모드를 활성화 하세요.</translation>
+    </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
         <translation>openpilot 롱컨트롤 (알파)</translation>
@@ -1114,24 +1122,8 @@ This may take up to a minute.</source>
         <translation>표준 모드를 권장합니다. 공격적 모드에서는 openpilot은 앞차를 더 가까이 따라가며 가속과 감속을 더 공격적으로 사용합니다. 편안한 모드에서 openpilot은 선두 차량에서 더 멀리 떨어져 있습니다.</translation>
     </message>
     <message>
-        <source>End-to-End Longitudinal Control is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot 롱컨 제어의 알파 버전은 비 릴리스 분기에서 실험 모드와 함께 테스트할 수 있습니다.</translation>
-    </message>
-    <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with End-to-End Longitudinal Control, on non-release branches.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to use End-to-End Longitudinal Control.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigate on openpilot</source>
-        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_pt-BR.ts

@@ -1081,10 +1081,18 @@ Isso pode levar até um minuto.</translation>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>A visualização da direção fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será exibido no canto superior direito.</translation>
     </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>O modo Experimental está atualmente indisponível para este carro já que o ACC original do carro é usado para controle longitudinal.</translation>
+    </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation>O controle longitudinal openpilot poderá vir em uma atualização futura.</translation>
     </message>
+    <message>
+        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
+        <translation>Ative o controle longitudinal experimental para permitir o modo Experimental.</translation>
+    </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
         <translation>Controle Longitudinal openpilot (Embrionário)</translation>
@@ -1118,24 +1126,8 @@ Isso pode levar até um minuto.</translation>
         <translation>Neutro é o recomendado. No modo disputa o openpilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o openpilot se manterá mais longe do carro da frente.</translation>
     </message>
     <message>
-        <source>End-to-End Longitudinal Control is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
+        <translation>Uma versão embrionária do controle longitudinal openpilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção.</translation>
-    </message>
-    <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with End-to-End Longitudinal Control, on non-release branches.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to use End-to-End Longitudinal Control.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigate on openpilot</source>
-        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -1075,10 +1075,18 @@ This may take up to a minute.</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>当低速行驶时，驾驶视角将切换到前向广角摄像头，便于更完整地显示转向路径。右上角将显示试验模式图标。</translation>
     </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>由于此车辆使用自带的ACC纵向控制，当前无法使用试验模式。</translation>
+    </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
+        <translation>启用试验性的纵向控制，以便允许使用试验模式。</translation>
+    </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
         <translation type="unfinished"></translation>
@@ -1112,23 +1120,7 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>End-to-End Longitudinal Control is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with End-to-End Longitudinal Control, on non-release branches.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to use End-to-End Longitudinal Control.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigate on openpilot</source>
         <translation type="unfinished"></translation>
     </message>
 </context>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -1077,10 +1077,18 @@ This may take up to a minute.</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
         <translation>低速行駛時，將會切換成路側廣角鏡頭，以完整顯示轉彎路徑，右上角將出現實驗模式圖案。</translation>
     </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>因車輛使用內建ACC系統，無法在本車輛上啟動實驗模式。</translation>
+    </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation>openpilot 縱向控制可能會在未來的更新中提供。</translation>
     </message>
+    <message>
+        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
+        <translation>啟用實驗性縱向控制以使用實驗模式。</translation>
+    </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
         <translation>openpilot 縱向控制 (Alpha 版)</translation>
@@ -1114,24 +1122,8 @@ This may take up to a minute.</source>
         <translation>推薦使用標準模式。在積極模式中，openpilot 會更靠近前車並在加速和剎車方面更積極。在舒適模式中，openpilot 會與前車保持較遠的距離。</translation>
     </message>
     <message>
-        <source>End-to-End Longitudinal Control is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>目前這輛車無法使用端到端縱向控制，因為車輛使用原廠ACC (自適應巡航控制系統) 進行縱向控制。</translation>
+        <translation>在正式 (release) 版以外的分支上可以測試 openpilot 縱向控制的 Alpha 版本，以及實驗模式。</translation>
-    </message>
-    <message>
-        <source>An alpha version of openpilot longitudinal control can be tested, along with End-to-End Longitudinal Control, on non-release branches.</source>
-        <translation>在非發佈版本的分支上，可以測試 openpilot 縱向控制的 Alpha 版本，包括端到端的縱向控制。</translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to use End-to-End Longitudinal Control.</source>
-        <translation>啟用實驗性縱向控制以使用端到端縱向控制。</translation>
-    </message>
-    <message>
-        <source>When navigation has a destination, openpilot will input the map information into the model. This generally improves behavior and allows openpilot to keep left or right appropriately at forks/exits and take turns. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>當導航有設定目的地時，openpilot 將會把地圖導航信息輸入模型。這通常會改善 openpilot 的行駛路徑使它能夠在分歧處/出口適當地靠左或靠右，並進行轉彎。車道變換行為保持不變，仍由駕駛員手動執行。這是一個 Alpha 版本的功能，請保持心理準備隨時有可能會出現錯誤。</translation>
-    </message>
-    <message>
-        <source>Navigate on openpilot</source>
-        <translation>openpilot 自動輔助駕駛</translation>
     </message>
 </context>
 <context>