SLC fix

selfdrive/controls/tests/test_starpilot_acceleration.py

@@ -102,7 +102,7 @@ def test_slc_coast_window_uses_effective_target_with_offset_and_cluster_diff():
   assert accel.min_accel == pytest.approx(-0.02, abs=1e-3)
 
 
-def test_slc_coast_window_disabled_when_set_speed_limit_is_off():
+def test_slc_coast_window_still_applies_when_set_speed_limit_is_off():
   raw_target = 58.0 * CV.MPH_TO_MS
   slc_target = 45.0 * CV.MPH_TO_MS
   slc_offset = 3.0 * CV.MPH_TO_MS
@@ -112,7 +112,7 @@ def test_slc_coast_window_disabled_when_set_speed_limit_is_off():
 
   accel.update(v_ego, sm, make_toggles(deceleration_profile=DECELERATION_PROFILES["ECO"], set_speed_limit=False))
 
-  assert accel.min_accel == pytest.approx(A_CRUISE_MIN_ECO)
+  assert accel.min_accel == pytest.approx(-0.02, abs=1e-3)
 
 
 def test_slc_coast_window_scales_by_profile_strength():

selfdrive/controls/tests/test_starpilot_vcruise.py

@@ -4,23 +4,21 @@ from openpilot.common.constants import CV
 from openpilot.starpilot.controls.lib.starpilot_vcruise import get_active_slc_control_target
 
 
-def test_active_slc_control_target_requires_set_speed_limit():
+def test_active_slc_control_target_ignores_set_speed_limit_toggle():
+  target = get_active_slc_control_target(
+    speed_limit_controller=True,
+    slc_target=45.0 * CV.MPH_TO_MS,
+    slc_offset=3.0 * CV.MPH_TO_MS,
+    overridden_speed=0.0,
+    v_ego_diff=0.4,
+  )
+
+  assert target == pytest.approx((48.0 * CV.MPH_TO_MS) - 0.4)
+
+
+def test_active_slc_control_target_applies_offset_and_cluster_diff():
   target = get_active_slc_control_target(
     speed_limit_controller=True,
-    set_speed_limit=False,
-    slc_target=45.0 * CV.MPH_TO_MS,
-    slc_offset=3.0 * CV.MPH_TO_MS,
-    overridden_speed=0.0,
-    v_ego_diff=0.4,
-  )
-
-  assert target == 0.0
-
-
-def test_active_slc_control_target_applies_offset_and_cluster_diff():
-  target = get_active_slc_control_target(
-    speed_limit_controller=True,
-    set_speed_limit=True,
     slc_target=45.0 * CV.MPH_TO_MS,
     slc_offset=3.0 * CV.MPH_TO_MS,
     overridden_speed=0.0,

selfdrive/ui/layouts/settings/starpilot/longitudinal.py

@@ -945,7 +945,7 @@ class StarPilotSLCQOLLayout(StarPilotPanel):
     super().__init__()
     self.CATEGORIES = [
       {
-        "title": tr_noop("Auto Match Speed Limits"),
+        "title": tr_noop("Match Speed Limit on Engage"),
         "type": "toggle",
         "get_state": lambda: self._params.get_bool("SetSpeedLimit"),
         "set_state": lambda s: self._params.put_bool("SetSpeedLimit", s),

starpilot/controls/lib/starpilot_acceleration.py

@@ -204,7 +204,6 @@ class StarPilotAcceleration:
       v_ego_diff = v_ego_cluster - v_ego
       effective_slc_target = get_active_slc_control_target(
         getattr(starpilot_toggles, "speed_limit_controller", False),
-        getattr(starpilot_toggles, "set_speed_limit", False),
         getattr(self.starpilot_planner.starpilot_vcruise, "slc_target", 0.0),
         getattr(self.starpilot_planner.starpilot_vcruise, "slc_offset", 0.0),
         getattr(getattr(self.starpilot_planner.starpilot_vcruise, "slc", None), "overridden_speed", 0.0),

starpilot/controls/lib/starpilot_vcruise.py

@@ -27,8 +27,8 @@ OFFSET_FT_MIN = -20
 OFFSET_FT_MAX = 20
 
 
-def get_active_slc_control_target(speed_limit_controller, set_speed_limit, slc_target, slc_offset, overridden_speed, v_ego_diff):
-  if not speed_limit_controller or not set_speed_limit:
+def get_active_slc_control_target(speed_limit_controller, slc_target, slc_offset, overridden_speed, v_ego_diff):
+  if not speed_limit_controller:
     return 0.0
 
   base_target = max(float(overridden_speed), float(slc_target) + float(slc_offset))
@@ -197,7 +197,6 @@ class StarPilotVCruise:
       targets = [self.csc_target, v_cruise]
       slc_control_target = get_active_slc_control_target(
         starpilot_toggles.speed_limit_controller,
-        getattr(starpilot_toggles, "set_speed_limit", False),
         self.slc_target,
         self.slc_offset,
         self.slc.overridden_speed,