diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 8e761c2030..2e83ce373d 100644
--- a/selfdrive/car/card.py
+++ b/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.
diff --git a/selfdrive/car/tests/test_redneck_cruise.py b/selfdrive/car/tests/test_redneck_cruise.py
index aa2891bc50..0e281bb66c 100644
--- a/selfdrive/car/tests/test_redneck_cruise.py
+++ b/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(
diff --git a/selfdrive/controls/tests/test_speed_limit_controller.py b/selfdrive/controls/tests/test_speed_limit_controller.py
index 20009e5f8f..928e67a7b9 100644
--- a/selfdrive/controls/tests/test_speed_limit_controller.py
+++ b/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)
diff --git a/selfdrive/ui/layouts/settings/starpilot/longitudinal.py b/selfdrive/ui/layouts/settings/starpilot/longitudinal.py
index ef96d49ca2..70b90afab3 100644
--- a/selfdrive/ui/layouts/settings/starpilot/longitudinal.py
+++ b/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,
)
diff --git a/selfdrive/ui/translations/main_uk.ts b/selfdrive/ui/translations/main_uk.ts
index e5e6f0f6c6..5b044f4a1d 100644
--- a/selfdrive/ui/translations/main_uk.ts
+++ b/selfdrive/ui/translations/main_uk.ts
@@ -1674,10 +1674,6 @@
Fallback Speed
Резерв. дж. лімітів
-
- Override Speed
- Ручна швидк.
-
Confirm New Speed Limits
Підтверд. новий ліміт шв.
@@ -1834,14 +1830,6 @@
None
Нема
-
- Set With Gas Pedal
- Педаль
-
-
- Max Set Speed
- Макс встан. швидк.
-
SELECT
ОБРАТИ
@@ -2346,10 +2334,6 @@
<b>The speed used by "Speed Limit Controller" when no speed limit is found.</b><br><br>- <b>Set Speed</b>: Use the cruise set speed<br>- <b>Experimental Mode</b>: Estimate the limit using the driving model<br>- <b>Previous Limit</b>: Keep using the last confirmed limit
<b>Швидкість, яка використовується «Контролером обмеження швидкості», коли обмеження швидкості не виявлено.</b><br><br>- <b>Встановити швидкість</b>: Використовувати встановлену швидкість круїз-контролю<br>- <b>Експериментальний режим</b>: Оцінити обмеження за допомогою моделі водіння<br>- <b>Попереднє обмеження</b>: Продовжувати використовувати останнє підтверджене обмеження
-
- <b>The speed used by "Speed Limit Controller" after you manually drive faster than the posted limit.</b><br><br>- <b>Set with Gas Pedal</b>: Use the highest speed reached while pressing the gas<br>- <b>Max Set Speed</b>: Use the cruise set speed<br><br>Overrides clear when openpilot disengages.
- <b>Швидкість, яку використовує «Контролер обмеження швидкості» після того, як ви вручну перевищили встановлене обмеження. </b><br><br>- <b>Встановлюється за допомогою педалі газу</b>: використовується найвища швидкість, досягнута під час натискання на педаль газу<br>- <b>Максимальна встановлена швидкість</b>: використовується встановлена швидкість круїз-контролю<br><br>Перезапис скасовується, коли OpenPilot деактивується.
-
<b>Miscellaneous "Speed Limit Controller" changes</b> to fine-tune how openpilot drives.
<b>Різні зміни в «Контролері обмеження швидкості»</b> для точного налаштування керуваня openpilot.
diff --git a/starpilot/common/assets/device_settings_layout.json b/starpilot/common/assets/device_settings_layout.json
index a1fba4454c..4342fdf9ee 100644
--- a/starpilot/common/assets/device_settings_layout.json
+++ b/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",
diff --git a/starpilot/controls/lib/speed_limit_controller.py b/starpilot/controls/lib/speed_limit_controller.py
index 31d124a3ee..9952c21180 100644
--- a/starpilot/controls/lib/speed_limit_controller.py
+++ b/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()
diff --git a/starpilot/controls/lib/starpilot_acceleration.py b/starpilot/controls/lib/starpilot_acceleration.py
index b90c34f10e..6e0e963eb4 100644
--- a/starpilot/controls/lib/starpilot_acceleration.py
+++ b/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:
diff --git a/starpilot/controls/lib/starpilot_vcruise.py b/starpilot/controls/lib/starpilot_vcruise.py
index b41a47b523..c8268ca117 100644
--- a/starpilot/controls/lib/starpilot_vcruise.py
+++ b/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,
diff --git a/starpilot/controls/tests/test_personality_longitudinal_profiles.py b/starpilot/controls/tests/test_personality_longitudinal_profiles.py
index 213888fbd9..80ae7fcdc3 100644
--- a/starpilot/controls/tests/test_personality_longitudinal_profiles.py
+++ b/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,
)
diff --git a/starpilot/system/the_galaxy/tests/test_device_settings_layout.py b/starpilot/system/the_galaxy/tests/test_device_settings_layout.py
index 24741b335c..a26cc4e8a3 100644
--- a/starpilot/system/the_galaxy/tests/test_device_settings_layout.py
+++ b/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())