From 26e0b2406eaf339d854337df99a158d2174752fc Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Sun, 22 Feb 2026 19:35:10 -0600 Subject: [PATCH] 7mph engage --- selfdrive/controls/lib/drive_helpers.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 1227ae43d..c33206be0 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -147,8 +147,7 @@ class VCruiseHelper: # initializing is handled by the PCM if self.CP.pcmCruise: return - - initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode and not frogpilot_toggles.conditional_experimental_mode else V_CRUISE_INITIAL + engage_floor_kph = max(V_CRUISE_MIN, 7.0 * CV.MPH_TO_KPH) # 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: @@ -157,7 +156,7 @@ class VCruiseHelper: if desired_speed_limit != 0 and frogpilot_toggles.set_speed_limit: self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH)) else: - self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX))) + self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, engage_floor_kph, V_CRUISE_MAX))) self.v_cruise_cluster_kph = self.v_cruise_kph