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Revert "offset cluster"

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This reverts commit 29663a3dc7.
This commit is contained in:
firestarsdog
2026-04-15 20:30:47 -04:00
parent 9800be7cc9
commit 4985ab8975
1 changed files with 1 additions and 24 deletions
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selfdrive/controls/controlsd.py
+1 -24
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@@ -35,26 +35,6 @@ LaneChangeDirection = log.LaneChangeDirection
ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
def get_gm_hud_set_speed(set_speed_ms: float, controls_enabled: bool, starpilot_toggles, starpilot_plan) -> float:
spoofed_speed = set_speed_ms
set_speed_offset = float(getattr(starpilot_toggles, "set_speed_offset", 0.0) or 0.0)
if spoofed_speed > 0 and set_speed_offset > 0:
spoofed_speed += set_speed_offset * CV.KPH_TO_MS
if not controls_enabled or not getattr(starpilot_toggles, "speed_limit_controller", False):
return spoofed_speed
slc_source = str(getattr(starpilot_plan, "slcSpeedLimitSource", "") or "")
slc_speed_limit = float(getattr(starpilot_plan, "slcSpeedLimit", 0.0) or 0.0)
slc_speed_limit_offset = float(getattr(starpilot_plan, "slcSpeedLimitOffset", 0.0) or 0.0)
if slc_source != "None" and slc_speed_limit > 0:
return slc_speed_limit + slc_speed_limit_offset
return spoofed_speed
class Controls:
def __init__(self) -> None:
self.params = Params()
@@ -212,10 +192,7 @@ class Controls:
CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
hudControl = CC.hudControl
hud_set_speed = float(CS.vCruiseCluster * CV.KPH_TO_MS)
if self.CP.brand == "gm":
hud_set_speed = get_gm_hud_set_speed(hud_set_speed, CC.enabled, self.starpilot_toggles, self.sm['starpilotPlan'])
hudControl.setSpeed = hud_set_speed
hudControl.setSpeed = float(CS.vCruiseCluster * CV.KPH_TO_MS)
hudControl.speedVisible = CC.enabled
hudControl.lanesVisible = CC.enabled
hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead