From 332dfdf0990898efa32e78ef149323f3e042d4ad Mon Sep 17 00:00:00 2001
From: firestarsdog <229254897+firestarsdog@users.noreply.github.com>
Date: Thu, 6 Aug 2026 10:52:50 -0400
Subject: [PATCH] Dango Unchained

---
 selfdrive/car/card.py                      | 20 +++++------
 selfdrive/car/tests/test_redneck_cruise.py | 41 +++++++++++++++++++++-
 2 files changed, 50 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index f6fe149de..c1d31b3d3 100644
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -427,18 +427,8 @@ class Car:
     self.CI.CS.redneck_v_target = v_target
 
   def _get_redneck_target_speed(self, CS: car.CarState, CC: car.CarControl) -> tuple[float, bool]:
-    # With openpilot longitudinal active, project its acceleration demand into the stock cruise setpoint.
-    if self.CP.openpilotLongitudinalControl:
-      return CS.vEgo * 1.01 + 3 * CC.actuators.accel, bool(CC.hudControl.leadVisible)
-
-    # Preserve the existing button-only SLC path when LongControl is disabled.
     starpilot_target_speed = 0.0
     slc_target_speed = 0.0
-    allow_plan_decrease = False
-    lead_present = False
-    lead_distance_m = 0.0
-    lead_rel_speed_ms = 0.0
-    lookahead_points = REDNECK_DECREASE_LOOKAHEAD_POINTS
     if self.sm.seen['starpilotPlan'] and self.sm.valid['starpilotPlan']:
       starpilot_plan = self.sm['starpilotPlan']
       starpilot_target_speed = float(starpilot_plan.vCruise)
@@ -448,6 +438,16 @@ class Car:
           float(starpilot_plan.slcSpeedLimit) + float(starpilot_plan.slcSpeedLimitOffset),
         )
 
+    # Use acceleration projection only when SLC has no resolved target.
+    if self.CP.openpilotLongitudinalControl and slc_target_speed <= 0.0:
+      return CS.vEgo * 1.01 + 3 * CC.actuators.accel, bool(CC.hudControl.leadVisible)
+
+    allow_plan_decrease = False
+    lead_present = False
+    lead_distance_m = 0.0
+    lead_rel_speed_ms = 0.0
+    lookahead_points = REDNECK_DECREASE_LOOKAHEAD_POINTS
+
     plan_speeds = []
     if self.sm.seen['longitudinalPlan'] and self.sm.valid['longitudinalPlan']:
       longitudinal_plan = self.sm['longitudinalPlan']
diff --git a/selfdrive/car/tests/test_redneck_cruise.py b/selfdrive/car/tests/test_redneck_cruise.py
index 012ac8d02..8513195fe 100644
--- a/selfdrive/car/tests/test_redneck_cruise.py
+++ b/selfdrive/car/tests/test_redneck_cruise.py
@@ -1,5 +1,6 @@
 import unittest
 from types import SimpleNamespace
+from unittest.mock import MagicMock
 
 from cereal import car
 from openpilot.common.constants import CV
@@ -184,7 +185,14 @@ class TestRedneckCruise(unittest.TestCase):
         self.assertAlmostEqual(slc_mph * CV.MPH_TO_MS, target_speed)
 
   def test_card_target_speed_uses_longitudinal_acceleration(self):
-    card = SimpleNamespace(CP=SimpleNamespace(openpilotLongitudinalControl=True))
+    sm = MagicMock()
+    sm.seen = {"starpilotPlan": False, "longitudinalPlan": False, "radarState": False}
+    sm.valid = sm.seen.copy()
+    card = SimpleNamespace(
+      CP=SimpleNamespace(openpilotLongitudinalControl=True),
+      sm=sm,
+      starpilot_toggles=SimpleNamespace(speed_limit_controller=False),
+    )
     car_state = SimpleNamespace(vEgo=55.0 * CV.MPH_TO_MS)
     car_control = SimpleNamespace(
       actuators=SimpleNamespace(accel=0.5),
@@ -196,6 +204,37 @@ class TestRedneckCruise(unittest.TestCase):
     self.assertAlmostEqual(55.0 * CV.MPH_TO_MS * 1.01 + 1.5, target_speed)
     self.assertTrue(lead_present)
 
+  def test_card_target_speed_uses_slc_target_with_longitudinal_control(self):
+    slc_target = 80.0 * CV.KPH_TO_MS
+    starpilot_plan = SimpleNamespace(
+      vCruise=110.0 * CV.KPH_TO_MS,
+      slcOverriddenSpeed=0.0,
+      slcSpeedLimit=slc_target,
+      slcSpeedLimitOffset=0.0,
+    )
+    sm = MagicMock()
+    sm.seen = {"starpilotPlan": True, "longitudinalPlan": False, "radarState": False}
+    sm.valid = sm.seen.copy()
+    sm.__getitem__.side_effect = {"starpilotPlan": starpilot_plan}.__getitem__
+    card = SimpleNamespace(
+      CP=SimpleNamespace(openpilotLongitudinalControl=True),
+      sm=sm,
+      starpilot_toggles=SimpleNamespace(speed_limit_controller=True),
+    )
+    car_state = SimpleNamespace(
+      vEgo=100.0 * CV.KPH_TO_MS,
+      cruiseState=SimpleNamespace(speedCluster=70.0 * CV.KPH_TO_MS),
+    )
+    car_control = SimpleNamespace(
+      actuators=SimpleNamespace(accel=-1.0),
+      hudControl=SimpleNamespace(leadVisible=False),
+    )
+
+    target_speed, lead_present = Car._get_redneck_target_speed(card, car_state, car_control)
+
+    self.assertAlmostEqual(slc_target, target_speed)
+    self.assertFalse(lead_present)
+
   def test_target_speed_returns_plan_minimum_when_slowing_down(self):
     target_speed = select_redneck_target_speed(
       120.0,