From 9c1d39b859363263a80ef37a3a4cdfc91964b9ea Mon Sep 17 00:00:00 2001 From: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Date: Mon, 24 Aug 2026 19:23:25 -0400 Subject: [PATCH] Guards, arrest this man --- selfdrive/car/card.py | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 2fbe1fd14..92adea623 100644 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -298,17 +298,21 @@ 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: - 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 + # 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 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 + self.sm['starpilotPlan'].slcSpeedLimitOffset + desired_speed_limit = self.sm['starpilotPlan'].slcSpeedLimit + if self.starpilot_toggles.speed_limit_controller: + desired_speed_limit += self.sm['starpilotPlan'].slcSpeedLimitOffset self.v_cruise_helper.initialize_v_cruise( self.CS_prev, self.experimental_mode,