From 4985ab89759607b0df4614a9c220c393155d1ec5 Mon Sep 17 00:00:00 2001
From: firestarsdog <229254897+firestarsdog@users.noreply.github.com>
Date: Wed, 15 Apr 2026 20:30:47 -0400
Subject: [PATCH] Revert "offset cluster"

This reverts commit 29663a3dc7a3109f9b23c15045431441262131a9.
---
 selfdrive/controls/controlsd.py | 25 +------------------------
 1 file changed, 1 insertion(+), 24 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 479d56f21..1a0d9b534 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -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