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Revert "Guards, arrest this man"

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This reverts commit 9c1d39b859.
This commit is contained in:
firestarsdog
2026-08-24 19:25:05 -04:00
parent 9c1d39b859
commit 6a64493512
1 changed files with 7 additions and 11 deletions
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selfdrive/car/card.py
+7 -11
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@@ -298,21 +298,17 @@ class Car:
self.v_cruise_helper.v_cruise_cluster_kph = preap_v_cruise_kph
slc_force_speed = self.params_memory.get_float("SLCForceCruiseSpeed")
if slc_force_speed > 0:
# Do not apply an adoption queued before SLC was switched off.
if self.starpilot_toggles.speed_limit_controller:
if self.is_metric:
new_cruise_kph = round(slc_force_speed * CV.MS_TO_KPH)
else:
new_cruise_kph = round(slc_force_speed * CV.MS_TO_MPH) * IMPERIAL_INCREMENT
self.v_cruise_helper.v_cruise_kph = max(min(new_cruise_kph, V_CRUISE_MAX), V_CRUISE_MIN)
self.v_cruise_helper.v_cruise_cluster_kph = self.v_cruise_helper.v_cruise_kph
if self.is_metric:
new_cruise_kph = round(slc_force_speed * CV.MS_TO_KPH)
else:
new_cruise_kph = round(slc_force_speed * CV.MS_TO_MPH) * IMPERIAL_INCREMENT
self.v_cruise_helper.v_cruise_kph = max(min(new_cruise_kph, V_CRUISE_MAX), V_CRUISE_MIN)
self.v_cruise_helper.v_cruise_cluster_kph = self.v_cruise_helper.v_cruise_kph
self.params_memory.remove("SLCForceCruiseSpeed")
if self.sm['carControl'].enabled and not self.CC_prev.enabled and not preap_software_cruise:
# Use CarState w/ buttons from the step selfdrived enables on
desired_speed_limit = self.sm['starpilotPlan'].slcSpeedLimit
if self.starpilot_toggles.speed_limit_controller:
desired_speed_limit += self.sm['starpilotPlan'].slcSpeedLimitOffset
desired_speed_limit = self.sm['starpilotPlan'].slcSpeedLimit + self.sm['starpilotPlan'].slcSpeedLimitOffset
self.v_cruise_helper.initialize_v_cruise(
self.CS_prev,
self.experimental_mode,