From e3e4542ef2aac3bfda0b70700f352147b6af5f8c Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 3 Jun 2026 16:04:14 -0500
Subject: [PATCH] My Collar's Blue & My Neck's Red

---
 selfdrive/car/card.py                      |  7 ++++++-
 selfdrive/car/redneck_cruise.py            |  4 ++--
 selfdrive/car/tests/test_redneck_cruise.py | 12 ++++++++++++
 3 files changed, 20 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 04ca316a8..a62a2e6d0 100644
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -398,12 +398,16 @@ class Car:
 
   def _get_redneck_target_speed(self, CS: car.CarState) -> float:
     starpilot_target_speed = 0.0
+    allow_plan_decrease = False
     if self.sm.seen['starpilotPlan'] and self.sm.valid['starpilotPlan']:
       starpilot_target_speed = float(self.sm['starpilotPlan'].vCruise)
 
     plan_speeds = []
     if self.sm.seen['longitudinalPlan'] and self.sm.valid['longitudinalPlan']:
-      plan_speeds = [float(speed) for speed in self.sm['longitudinalPlan'].speeds if math.isfinite(float(speed))]
+      longitudinal_plan = self.sm['longitudinalPlan']
+      plan_speeds = [float(speed) for speed in longitudinal_plan.speeds if math.isfinite(float(speed))]
+      allow_plan_decrease = bool(longitudinal_plan.hasLead or longitudinal_plan.shouldStop or
+                                 str(longitudinal_plan.longitudinalPlanSource) != "cruise")
 
     return select_redneck_target_speed(
       float(getattr(CS, "vCruise", 0.0)),
@@ -411,6 +415,7 @@ class Car:
       starpilot_target_speed,
       plan_speeds,
       REDNECK_DECREASE_LOOKAHEAD_POINTS,
+      allow_plan_decrease=allow_plan_decrease,
     )
 
   def _advance_redneck_button_feedback_filter(self) -> None:
diff --git a/selfdrive/car/redneck_cruise.py b/selfdrive/car/redneck_cruise.py
index 52f70c132..f9c33796b 100644
--- a/selfdrive/car/redneck_cruise.py
+++ b/selfdrive/car/redneck_cruise.py
@@ -25,14 +25,14 @@ CRUISE_BUTTON_TIMERS = {
 
 def select_redneck_target_speed(v_cruise_kph: float, speed_cluster_ms: float,
                                 starpilot_target_speed_ms: float, plan_speeds_ms: list[float],
-                                lookahead_points: int) -> float:
+                                lookahead_points: int, allow_plan_decrease: bool = True) -> float:
   target_speed_ms = float(speed_cluster_ms)
   if v_cruise_kph > 0:
     target_speed_ms = float(v_cruise_kph) * CV.KPH_TO_MS
   elif starpilot_target_speed_ms > 0:
     target_speed_ms = float(starpilot_target_speed_ms)
 
-  if len(plan_speeds_ms) > 0:
+  if allow_plan_decrease and len(plan_speeds_ms) > 0:
     decrease_target_speed_ms = min(plan_speeds_ms[:lookahead_points])
     if decrease_target_speed_ms < min(target_speed_ms, float(speed_cluster_ms)):
       return decrease_target_speed_ms
diff --git a/selfdrive/car/tests/test_redneck_cruise.py b/selfdrive/car/tests/test_redneck_cruise.py
index d24596bf6..524d8b6d2 100644
--- a/selfdrive/car/tests/test_redneck_cruise.py
+++ b/selfdrive/car/tests/test_redneck_cruise.py
@@ -119,6 +119,17 @@ class TestRedneckCruise(unittest.TestCase):
     )
     self.assertAlmostEqual(120.0 * CV.KPH_TO_MS, target_speed)
 
+  def test_target_speed_ignores_plan_drift_during_free_cruise(self):
+    target_speed = select_redneck_target_speed(
+      104.4,
+      63.0 * CV.MPH_TO_MS,
+      0.0,
+      [62.55 * CV.MPH_TO_MS, 62.44 * CV.MPH_TO_MS, 62.36 * CV.MPH_TO_MS],
+      10,
+      allow_plan_decrease=False,
+    )
+    self.assertAlmostEqual(104.4 * CV.KPH_TO_MS, target_speed)
+
   def test_target_speed_returns_plan_minimum_when_slowing_down(self):
     target_speed = select_redneck_target_speed(
       120.0,
@@ -126,6 +137,7 @@ class TestRedneckCruise(unittest.TestCase):
       0.0,
       [74.0 * CV.MPH_TO_MS, 72.0 * CV.MPH_TO_MS, 71.0 * CV.MPH_TO_MS],
       10,
+      allow_plan_decrease=True,
     )
     self.assertAlmostEqual(71.0 * CV.MPH_TO_MS, target_speed)