UI

selfdrive/car/card.py

@@ -492,10 +492,7 @@ class Car:
       if self.starpilot_toggles.speed_limit_controller:
         overridden_speed = float(starpilot_plan.slcOverriddenSpeed)
         slc_limit = float(starpilot_plan.slcSpeedLimit) + float(starpilot_plan.slcSpeedLimitOffset)
-        allow_lower_override = (
-          getattr(self.starpilot_toggles, "redneck_cruise", False) and
-          getattr(self.starpilot_toggles, "speed_limit_controller_override_set_speed", False)
-        )
+        allow_lower_override = getattr(self.starpilot_toggles, "redneck_cruise", False)
         slc_target_speed = overridden_speed if allow_lower_override and overridden_speed > 0 else max(overridden_speed, slc_limit)
 
     # Use acceleration projection only when SLC has no resolved target.

selfdrive/car/tests/test_redneck_cruise.py

@@ -265,7 +265,6 @@ class TestRedneckCruise(unittest.TestCase):
       starpilot_toggles=SimpleNamespace(
         speed_limit_controller=True,
         redneck_cruise=True,
-        speed_limit_controller_override_set_speed=True,
       ),
     )
     car_state = SimpleNamespace(

selfdrive/controls/tests/test_speed_limit_controller.py

@@ -47,8 +47,6 @@ def make_toggles(**overrides):
     "slc_mapbox_filler": False,
     "speed_limit_confirmation_higher": False,
     "speed_limit_confirmation_lower": False,
-    "speed_limit_controller_override_manual": True,
-    "speed_limit_controller_override_set_speed": False,
     "redneck_cruise": False,
     "speed_limit_filler": False,
     "speed_limit_offset1": 0.0,
@@ -317,8 +315,6 @@ def test_display_only_applies_large_delta_guard():
 
 def test_set_speed_override_survives_source_changes_and_fallback_until_driver_clears():
   controller = make_controller(
-    speed_limit_controller_override_manual=False,
-    speed_limit_controller_override_set_speed=True,
     speed_limit_priority1="Map Data",
     speed_limit_priority2="Dashboard",
     slc_fallback_set_speed=True,
@@ -444,10 +440,7 @@ def test_unconfirmed_lower_limit_keeps_existing_override():
 
 
 def test_set_speed_override_handles_higher_limit_changes():
-  controller = make_controller(
-    speed_limit_controller_override_manual=False,
-    speed_limit_controller_override_set_speed=True,
-  )
+  controller = make_controller()
   try:
     controller.source = "Dashboard"
     controller.target = mph(35)
@@ -479,19 +472,20 @@ def test_set_speed_override_handles_higher_limit_changes():
     controller.shutdown()
 
 
-def test_set_speed_override_follows_driver_wheel_intent():
-  controller = make_controller(
-    speed_limit_controller_override_manual=False,
-    speed_limit_controller_override_set_speed=True,
-  )
+def test_pedal_and_set_speed_overrides_are_independent():
+  controller = make_controller()
   try:
     controller.source = "Dashboard"
     controller.target = mph(45)
     controller.last_valid_limit = mph(45)
 
-    # Gas never creates a persistent wheel override.
+    # A pedal pass is temporary; a set-speed increase is the fixed persistent action.
     controller.update_override(mph(45), 0.0, mph(45), 0.0, make_sm(gas_pressed=False))
     controller.update_override(mph(45), 0.0, mph(55), 0.0, make_sm(gas_pressed=True))
+    assert controller.override_slc
+    assert controller.overridden_speed == pytest.approx(mph(55))
+
+    controller.update_override(mph(45), 0.0, mph(55), 0.0, make_sm(gas_pressed=False))
     assert not controller.override_slc
     assert controller.overridden_speed == 0
 
@@ -500,6 +494,14 @@ def test_set_speed_override_follows_driver_wheel_intent():
     assert controller.override_slc
     assert controller.overridden_speed == pytest.approx(mph(55))
 
+    # Pedaling temporarily takes priority, then returns to the selected set speed.
+    controller.update_override(mph(55), 0.0, mph(60), 0.0, make_sm(gas_pressed=True))
+    assert controller.overridden_speed == pytest.approx(mph(60))
+
+    controller.update_override(mph(55), 0.0, mph(60), 0.0, make_sm(gas_pressed=False))
+    assert controller.override_slc
+    assert controller.overridden_speed == pytest.approx(mph(55))
+
     controller.update_override(mph(60), 0.0, mph(58), 0.0, make_sm(gas_pressed=False))
     assert controller.override_slc
     assert controller.overridden_speed == pytest.approx(mph(60))
@@ -516,11 +518,9 @@ def test_set_speed_override_follows_driver_wheel_intent():
     controller.shutdown()
 
 
-def test_set_speed_mode_waits_until_above_slc_target_with_offset():
+def test_persistent_override_waits_until_above_slc_target_with_offset():
   controller = make_controller(
     is_metric=True,
-    speed_limit_controller_override_manual=False,
-    speed_limit_controller_override_set_speed=True,
     speed_limit_offset2=3 * CV.KPH_TO_MS,
   )
   try:
@@ -546,10 +546,7 @@ def test_set_speed_mode_waits_until_above_slc_target_with_offset():
 def test_set_speed_override_clears_on_new_speed_zone():
   # Entering a new (lower) posted limit clears the override; a steady high set speed must not
   # re-arm it. Only a fresh +/- press re-arms.
-  controller = make_controller(
-    speed_limit_controller_override_manual=False,
-    speed_limit_controller_override_set_speed=True,
-  )
+  controller = make_controller()
   try:
     controller.source = "Dashboard"
     controller.target = mph(45)
@@ -579,8 +576,6 @@ def test_set_speed_override_clears_on_new_speed_zone():
 
 def test_confirmation_accel_press_does_not_arm_set_speed_override():
   controller = make_controller(
-    speed_limit_controller_override_manual=False,
-    speed_limit_controller_override_set_speed=True,
     speed_limit_confirmation_higher=True,
   )
   try:
@@ -622,10 +617,7 @@ def test_confirmation_accel_press_does_not_arm_set_speed_override():
 
 
 def test_adopt_speed_limit_clears_complete_override_state():
-  controller = make_controller(
-    speed_limit_controller_override_manual=False,
-    speed_limit_controller_override_set_speed=True,
-  )
+  controller = make_controller()
   try:
     controller.source = "Dashboard"
     controller.target = mph(45)
@@ -645,10 +637,8 @@ def test_adopt_speed_limit_clears_complete_override_state():
     controller.shutdown()
 
 
-def test_redneck_set_speed_mode_overrides_in_both_directions():
+def test_redneck_set_speed_override_is_bidirectional():
   controller = make_controller(
-    speed_limit_controller_override_manual=False,
-    speed_limit_controller_override_set_speed=True,
     redneck_cruise=True,
   )
   try:
@@ -670,10 +660,7 @@ def test_redneck_set_speed_mode_overrides_in_both_directions():
 
 
 def test_manual_override_tracks_current_speed_and_ends_on_release():
-  controller = make_controller(
-    speed_limit_controller_override_manual=True,
-    speed_limit_controller_override_set_speed=False,
-  )
+  controller = make_controller()
   try:
     controller.source = "Dashboard"
     controller.target = mph(45)
@@ -724,10 +711,7 @@ def test_manual_override_survives_brief_enabled_flicker():
 
 
 def test_override_clears_after_sustained_disengage():
-  controller = make_controller(
-    speed_limit_controller_override_manual=False,
-    speed_limit_controller_override_set_speed=True,
-  )
+  controller = make_controller()
   try:
     controller.source = "Dashboard"
     controller.target = mph(45)

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

@@ -77,13 +77,6 @@ SLC_FALLBACK_OPTIONS = [
   (2, "Previous Limit"),
 ]
 
-SLC_OVERRIDE_OPTIONS = [
-  (0, "None"),
-  (1, "Set With Gas Pedal"),
-  (2, "Max Set Speed"),
-]
-
-
 # ═══════════════════════════════════════════════════════════════
 # AdaptiveSpeedView — nested panel with two adaptive speed tiles
 # ═══════════════════════════════════════════════════════════════
@@ -599,11 +592,6 @@ class StarPilotLongitudinalLayout(_SettingsPage):
                  get_value=lambda: self._profile_label_for_value(self._params.get_int("SLCFallback"), SLC_FALLBACK_OPTIONS),
                  on_click=lambda: self._show_labeled_select("Fallback Speed", "SLCFallback", SLC_FALLBACK_OPTIONS,
                                                             self._params.get_int("SLCFallback"))),
-      SettingRow("SLCOverride", "value", tr_noop("Override Speed"),
-                 subtitle="",
-                 get_value=lambda: self._profile_label_for_value(self._params.get_int("SLCOverride"), SLC_OVERRIDE_OPTIONS),
-                 on_click=lambda: self._show_labeled_select("Override Speed", "SLCOverride", SLC_OVERRIDE_OPTIONS,
-                                                            self._params.get_int("SLCOverride"))),
       SettingRow("SLCPriority", "value", tr_noop("Source Priority"),
                  subtitle="",
                  get_value=self._get_priority_value,
@@ -889,7 +877,7 @@ class StarPilotLongitudinalLayout(_SettingsPage):
       self,
       [SettingSection(title="", rows=self._slc_rows)],
       header_title=tr_noop("Speed Limit Controller"),
-      header_subtitle=tr_noop("Manage auto speed matching, confirmation, offsets, and source priority."),
+      header_subtitle=tr_noop("Press + above a limit for a persistent override; hold the gas pedal for a temporary override."),
       parent_toggle=pt_slc,
       panel_style=PANEL_STYLE,
     )

selfdrive/ui/translations/main_uk.ts

@@ -1674,10 +1674,6 @@
         <source>Fallback Speed</source>
         <translation>Резерв. дж. лімітів</translation>
     </message>
-    <message>
-        <source>Override Speed</source>
-        <translation>Ручна швидк.</translation>
-    </message>
     <message>
         <source>Confirm New Speed Limits</source>
         <translation>Підтверд. новий ліміт шв.</translation>
@@ -1834,14 +1830,6 @@
         <source>None</source>
         <translation>Нема</translation>
     </message>
-    <message>
-        <source>Set With Gas Pedal</source>
-        <translation>Педаль</translation>
-    </message>
-    <message>
-        <source>Max Set Speed</source>
-        <translation>Макс встан. швидк.</translation>
-    </message>
     <message>
         <source>SELECT</source>
         <translation>ОБРАТИ</translation>
@@ -2346,10 +2334,6 @@
         <source>&lt;b&gt;The speed used by "Speed Limit Controller" when no speed limit is found.&lt;/b&gt;&lt;br&gt;&lt;br&gt;- &lt;b&gt;Set Speed&lt;/b&gt;: Use the cruise set speed&lt;br&gt;- &lt;b&gt;Experimental Mode&lt;/b&gt;: Estimate the limit using the driving model&lt;br&gt;- &lt;b&gt;Previous Limit&lt;/b&gt;: Keep using the last confirmed limit</source>
         <translation>&lt;b&gt;Швидкість, яка використовується «Контролером обмеження швидкості», коли обмеження швидкості не виявлено.&lt;/b&gt;&lt;br&gt;&lt;br&gt;- &lt;b&gt;Встановити швидкість&lt;/b&gt;: Використовувати встановлену швидкість круїз-контролю&lt;br&gt;- &lt;b&gt;Експериментальний режим&lt;/b&gt;: Оцінити обмеження за допомогою моделі водіння&lt;br&gt;- &lt;b&gt;Попереднє обмеження&lt;/b&gt;: Продовжувати використовувати останнє підтверджене обмеження</translation>
     </message>
-    <message>
-        <source>&lt;b&gt;The speed used by "Speed Limit Controller" after you manually drive faster than the posted limit.&lt;/b&gt;&lt;br&gt;&lt;br&gt;- &lt;b&gt;Set with Gas Pedal&lt;/b&gt;: Use the highest speed reached while pressing the gas&lt;br&gt;- &lt;b&gt;Max Set Speed&lt;/b&gt;: Use the cruise set speed&lt;br&gt;&lt;br&gt;Overrides clear when openpilot disengages.</source>
-        <translation>&lt;b&gt;Швидкість, яку використовує «Контролер обмеження швидкості» після того, як ви вручну перевищили встановлене обмеження. &lt;/b&gt;&lt;br&gt;&lt;br&gt;- &lt;b&gt;Встановлюється за допомогою педалі газу&lt;/b&gt;: використовується найвища швидкість, досягнута під час натискання на педаль газу&lt;br&gt;- &lt;b&gt;Максимальна встановлена швидкість&lt;/b&gt;: використовується встановлена швидкість круїз-контролю&lt;br&gt;&lt;br&gt;Перезапис скасовується, коли OpenPilot деактивується.</translation>
-    </message>
     <message>
         <source>&lt;b&gt;Miscellaneous "Speed Limit Controller" changes&lt;/b&gt; to fine-tune how openpilot drives.</source>
         <translation>&lt;b&gt;Різні зміни в «Контролері обмеження швидкості»&lt;/b&gt; для точного налаштування керуваня openpilot.</translation>

starpilot/common/assets/device_settings_layout.json

@@ -2106,8 +2106,8 @@
       {
         "key": "SpeedLimitController",
         "label": "Speed Limit Controller",
-        "description": "Limit openpilot's maximum driving speed to the current speed limit from configured map, dashboard, and optional vision sources.",
-        "picker_description": "Limits speed using map, dashboard, or vision data.",
+        "description": "Limit openpilot's maximum driving speed using configured map, dashboard, and optional vision sources. Press + above a limit for a persistent override; hold the gas pedal for a temporary override.",
+        "picker_description": "Press + above a limit for a persistent override; hold the gas pedal for a temporary override.",
         "data_type": "bool",
         "ui_type": "toggle",
         "is_parent_toggle": true,
@@ -2200,30 +2200,6 @@
         "parent_key": "SpeedLimitController",
         "settings_tier": "advanced"
       },
-      {
-        "key": "SLCOverride",
-        "label": "Override Speed",
-        "description": "Choose how SLC behaves after you manually drive faster than the posted speed limit.",
-        "picker_description": "Chooses how SLC responds after you exceed the limit.",
-        "data_type": "int",
-        "ui_type": "dropdown",
-        "options": [
-          {
-            "value": 0,
-            "label": "None"
-          },
-          {
-            "value": 1,
-            "label": "Set With Gas Pedal"
-          },
-          {
-            "value": 2,
-            "label": "Max Set Speed"
-          }
-        ],
-        "parent_key": "SpeedLimitController",
-        "settings_tier": "advanced"
-      },
       {
         "key": "SLCMapboxFiller",
         "label": "Use Mapbox as Fallback",

starpilot/controls/lib/speed_limit_controller.py

@@ -52,6 +52,7 @@ class SpeedLimitController:
     self.override_slc = False
     self.override_disable_timer = 0.0
     self._prev_v_cruise = None
+    self._persistent_override_speed = 0.0
     self._set_speed_override_input_consumed = False
 
     self.denied_target = 0
@@ -126,16 +127,20 @@ class SpeedLimitController:
   def clear_override(self):
     self.override_slc = False
     self.overridden_speed = 0
+    self._persistent_override_speed = 0.0
+
+  def clear_persistent_override(self):
+    self._persistent_override_speed = 0.0
 
   def clear_persistent_override_for_limit_change(self, previous_limit, new_limit):
-    if not self.starpilot_toggles.speed_limit_controller_override_set_speed or self.overridden_speed <= 0:
+    if self._persistent_override_speed <= 0:
       return
     if previous_limit <= 0 or new_limit <= 0 or abs(new_limit - previous_limit) < 0.1:
       return
 
     new_target_with_offset = new_limit + self.get_offset(new_limit)
-    if new_limit < previous_limit or self.overridden_speed <= new_target_with_offset:
-      self.clear_override()
+    if new_limit < previous_limit or self._persistent_override_speed <= new_target_with_offset:
+      self.clear_persistent_override()
 
   def get_mapbox_speed_limit(self, now, time_validated, v_ego, sm):
     if not self.starpilot_planner.gps_valid or not self.mapbox_token or abs(sm["carState"].steeringAngleDeg - sm["liveParameters"].angleOffsetDeg) >= 45:
@@ -519,41 +524,32 @@ class SpeedLimitController:
     target_to_use = self.target_to_use
     target_with_offset = target_to_use + self.get_offset(target_to_use)
 
-    if self.starpilot_toggles.speed_limit_controller_override_manual:
-      if sm["carState"].gasPressed and v_ego > target_with_offset > 0:
-        self.override_slc = True
-        self.overridden_speed = v_ego + v_ego_diff
-      else:
-        self.clear_override()
-      return
-
-    if not self.starpilot_toggles.speed_limit_controller_override_set_speed:
-      self.clear_override()
-      return
-
     set_speed = v_cruise + v_cruise_diff
     bidirectional_set_speed = getattr(self.starpilot_toggles, "redneck_cruise", False)
-    if bidirectional_set_speed:
-      if self.override_slc and set_speed > 0:
-        self.overridden_speed = set_speed
-      elif target_with_offset > 0 and set_speed > 0 and set_speed_changed and not set_speed_input_consumed:
-        self.override_slc = True
-        self.overridden_speed = set_speed
-      else:
-        self.clear_override()
-      return
 
-    if self.override_slc:
-      # A fallback transition alone preserves the override; a fresh set-speed change may clear it.
-      if set_speed <= 0 or (
-        target_with_offset > 0 and set_speed <= target_with_offset and
-        (self.source != "None" or set_speed_changed)
-      ):
-        self.clear_override()
+    if self._persistent_override_speed > 0:
+      if bidirectional_set_speed:
+        if set_speed <= 0:
+          self.clear_persistent_override()
+        else:
+          self._persistent_override_speed = set_speed
+      elif set_speed <= 0 or (target_with_offset > 0 and set_speed <= target_with_offset and (self.source != "None" or set_speed_changed)):
+        self.clear_persistent_override()
       else:
-        self.overridden_speed = set_speed
-    elif target_with_offset > 0 and set_speed_raised and set_speed > target_with_offset and not set_speed_input_consumed:
+        self._persistent_override_speed = set_speed
+    elif (
+      target_with_offset > 0
+      and set_speed > 0
+      and not set_speed_input_consumed
+      and ((bidirectional_set_speed and set_speed_changed) or (not bidirectional_set_speed and set_speed_raised and set_speed > target_with_offset))
+    ):
+      self._persistent_override_speed = set_speed
+
+    if sm["carState"].gasPressed and v_ego > target_with_offset > 0:
       self.override_slc = True
-      self.overridden_speed = set_speed
+      self.overridden_speed = v_ego + v_ego_diff
+    elif self._persistent_override_speed > 0:
+      self.override_slc = True
+      self.overridden_speed = self._persistent_override_speed
     else:
       self.clear_override()

starpilot/controls/lib/starpilot_acceleration.py

@@ -221,8 +221,7 @@ class StarPilotAcceleration:
       getattr(self.starpilot_planner.starpilot_vcruise, "slc_offset", 0.0),
       getattr(getattr(self.starpilot_planner.starpilot_vcruise, "slc", None), "overridden_speed", 0.0),
       max(float(getattr(sm["carState"], "vEgoCluster", v_ego) or v_ego), v_ego) - v_ego,
-      allow_lower_override=(getattr(starpilot_toggles, "redneck_cruise", False) and
-                            getattr(starpilot_toggles, "speed_limit_controller_override_set_speed", False)),
+      allow_lower_override=getattr(starpilot_toggles, "redneck_cruise", False),
     )
     v_target = float(self.starpilot_planner.v_cruise or raw_v_cruise)
     if effective_slc_target > 0.0:
@@ -277,8 +276,7 @@ class StarPilotAcceleration:
       getattr(self.starpilot_planner.starpilot_vcruise, "slc_offset", 0.0),
       getattr(getattr(self.starpilot_planner.starpilot_vcruise, "slc", None), "overridden_speed", 0.0),
       v_ego_diff,
-      allow_lower_override=(getattr(starpilot_toggles, "redneck_cruise", False) and
-                            getattr(starpilot_toggles, "speed_limit_controller_override_set_speed", False)),
+      allow_lower_override=getattr(starpilot_toggles, "redneck_cruise", False),
     )
     v_target = float(self.starpilot_planner.v_cruise or raw_v_cruise)
     if effective_slc_target > 0.0:
@@ -319,8 +317,7 @@ class StarPilotAcceleration:
       getattr(self.starpilot_planner.starpilot_vcruise, "slc_offset", 0.0),
       getattr(getattr(self.starpilot_planner.starpilot_vcruise, "slc", None), "overridden_speed", 0.0),
       max(v_ego_cluster, v_ego) - v_ego,
-      allow_lower_override=(getattr(starpilot_toggles, "redneck_cruise", False) and
-                            getattr(starpilot_toggles, "speed_limit_controller_override_set_speed", False)),
+      allow_lower_override=getattr(starpilot_toggles, "redneck_cruise", False),
     )
     v_target = float(self.starpilot_planner.v_cruise or raw_v_cruise)
     if effective_slc_target > 0.0:

starpilot/controls/lib/starpilot_vcruise.py

@@ -752,8 +752,7 @@ class StarPilotVCruise:
         self.slc_offset,
         self.slc.overridden_speed,
         v_ego_diff,
-        allow_lower_override=(getattr(starpilot_toggles, "redneck_cruise", False) and
-                              getattr(starpilot_toggles, "speed_limit_controller_override_set_speed", False)),
+        allow_lower_override=getattr(starpilot_toggles, "redneck_cruise", False),
       )
       slc_control_target = get_slc_lead_drop_relaxed_target(
         slc_control_target,

starpilot/controls/tests/test_personality_longitudinal_profiles.py

@@ -96,7 +96,6 @@ def _toggles(document):
     set_speed_limit=False,
     set_speed_offset=0.0,
     speed_limit_controller=False,
-    speed_limit_controller_override_set_speed=False,
     truck_tuning=False,
   )
 

starpilot/system/the_galaxy/tests/test_device_settings_layout.py

@@ -44,6 +44,20 @@ def test_galaxy_layout_removes_obsolete_and_duplicate_controls():
   ) == 1
 
 
+def test_slc_override_method_is_not_exposed_in_either_settings_ui():
+  layout = _layout()
+  galaxy_keys = {
+    param["key"]
+    for section in layout
+    for param in section.get("params", [])
+  }
+  device_ui = (REPO_ROOT / "selfdrive/ui/layouts/settings/starpilot/longitudinal.py").read_text(encoding="utf-8")
+
+  assert "SLCOverride" not in galaxy_keys
+  assert 'SettingRow("SLCOverride"' not in device_ui
+  assert "SLC_OVERRIDE_OPTIONS" not in device_ui
+
+
 def test_galaxy_layout_contains_basic_mode_controls():
   sections = _params_by_section(_layout())