From 6a644935126dbe995752aee304e343b358e3aed6 Mon Sep 17 00:00:00 2001 From: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Date: Mon, 24 Aug 2026 19:25:05 -0400 Subject: [PATCH] Revert "Guards, arrest this man" This reverts commit 9c1d39b859363263a80ef37a3a4cdfc91964b9ea. --- selfdrive/car/card.py | 18 +++++++----------- 1 file changed, 7 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 92adea623..2fbe1fd14 100644 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -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,