From b755562edb26ef118689cf1f490f81d04637c543 Mon Sep 17 00:00:00 2001 From: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Date: Sun, 12 Apr 2026 17:52:47 -0400 Subject: [PATCH] Maybe this can delay the SLC deletion --- selfdrive/ui/mici/onroad/hud_renderer.py | 3 ++- starpilot/ui/qt/onroad/starpilot_annotated_camera.cc | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py index 2c22ad638..22d4c93f5 100644 --- a/selfdrive/ui/mici/onroad/hud_renderer.py +++ b/selfdrive/ui/mici/onroad/hud_renderer.py @@ -213,7 +213,8 @@ class HudRenderer(Widget): primary_priority=primary_priority, secondary_priority=secondary_priority, ) - self._speed_limit = max(0.0, resolved_speed_limit * speed_conversion) + display_speed_limit = starpilot_plan.slcOverriddenSpeed if starpilot_plan.slcOverriddenSpeed > 0 else resolved_speed_limit + self._speed_limit = max(0.0, display_speed_limit * speed_conversion) self._speed_limit_offset = starpilot_plan.slcSpeedLimitOffset * speed_conversion self._speed_limit_overridden = bool(starpilot_plan.slcOverriddenSpeed > 0 and starpilot_plan.slcSpeedLimit > 0) if self._speed_limit > 0 and not self._speed_limit_overridden and not self._show_speed_limit_offset: diff --git a/starpilot/ui/qt/onroad/starpilot_annotated_camera.cc b/starpilot/ui/qt/onroad/starpilot_annotated_camera.cc index d17584629..e0eaef753 100644 --- a/starpilot/ui/qt/onroad/starpilot_annotated_camera.cc +++ b/starpilot/ui/qt/onroad/starpilot_annotated_camera.cc @@ -183,7 +183,7 @@ void StarPilotAnnotatedCameraWidget::updateState(const UIState &s, const StarPil roadCurvature = starpilotPlan.getRoadCurvature(); roadName = QString::fromStdString(mapdOut.getRoadName()); slcOverriddenSpeed = starpilotPlan.getSlcOverriddenSpeed(); - speedLimit = starpilotPlan.getSlcSpeedLimit(); + speedLimit = slcOverriddenSpeed != 0 ? slcOverriddenSpeed : starpilotPlan.getSlcSpeedLimit(); speedLimitChanged = starpilotPlan.getSpeedLimitChanged(); speedLimitSource = starpilotPlan.getSlcSpeedLimitSource(); stoppingDistance = modelV2.getPosition().getX().size() > 33 - 1 ? modelV2.getPosition().getX()[33 - 1] : 0.0;