Controls - Speed Limit Controller - Speed Limit Changed Alert

selfdrive/controls/controlsd.py

@@ -917,6 +917,9 @@ class Controls:
       self.events.add(EventName.openpilotCrashed)
       self.openpilot_crashed_triggered = True
 
+    if self.frogpilot_toggles.speed_limit_alert and self.speed_limit_changed:
+      self.events.add(EventName.speedLimitChanged)
+
     if self.sm.frame * DT_CTRL == 5.5 and self.CP.lateralTuning.which() == "torque" and self.CI.use_nnff:
       self.events.add(EventName.torqueNNLoad)
 

selfdrive/controls/lib/events.py

@@ -1014,6 +1014,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.HIGH, VisualAlert.wrongGear, AudibleAlert.promptRepeat, 4.),
   },
 
+  EventName.speedLimitChanged: {
+    ET.PERMANENT: Alert(
+      "Speed limit changed",
+      "",
+      AlertStatus.frogpilot, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.),
+  },
+
   EventName.torqueNNLoad: {
     ET.PERMANENT: torque_nn_load_alert,
   },