Dingo

selfdrive/car/card.py

@@ -421,20 +421,32 @@ class Car:
     if self.redneck_cruise is None:
       return
 
-    v_target_ms, lead_present = self._get_redneck_target_speed(CS)
+    v_target_ms, lead_present = self._get_redneck_target_speed(CS, CC)
     send_button, v_target = self.redneck_cruise.run(CS, CC, v_target_ms, self.is_metric, lead_present=lead_present)
     self.CI.CS.redneck_send_button = send_button
     self.CI.CS.redneck_v_target = v_target
 
-  def _get_redneck_target_speed(self, CS: car.CarState) -> tuple[float, bool]:
+  def _get_redneck_target_speed(self, CS: car.CarState, CC: car.CarControl) -> tuple[float, bool]:
+    # With openpilot longitudinal active, project its acceleration demand into the stock cruise setpoint.
+    if self.CP.openpilotLongitudinalControl:
+      return CS.vEgo * 1.01 + 3 * CC.actuators.accel, bool(CC.hudControl.leadVisible)
+
+    # Preserve the existing button-only SLC path when LongControl is disabled.
     starpilot_target_speed = 0.0
+    slc_target_speed = 0.0
     allow_plan_decrease = False
     lead_present = False
     lead_distance_m = 0.0
     lead_rel_speed_ms = 0.0
     lookahead_points = REDNECK_DECREASE_LOOKAHEAD_POINTS
     if self.sm.seen['starpilotPlan'] and self.sm.valid['starpilotPlan']:
-      starpilot_target_speed = float(self.sm['starpilotPlan'].vCruise)
+      starpilot_plan = self.sm['starpilotPlan']
+      starpilot_target_speed = float(starpilot_plan.vCruise)
+      if self.starpilot_toggles.speed_limit_controller:
+        slc_target_speed = max(
+          float(starpilot_plan.slcOverriddenSpeed),
+          float(starpilot_plan.slcSpeedLimit) + float(starpilot_plan.slcSpeedLimitOffset),
+        )
 
     plan_speeds = []
     if self.sm.seen['longitudinalPlan'] and self.sm.valid['longitudinalPlan']:
@@ -461,6 +473,7 @@ class Car:
       lead_present=lead_present,
       lead_distance_m=lead_distance_m,
       lead_rel_speed_ms=lead_rel_speed_ms,
+      slc_target_speed_ms=slc_target_speed,
     ), lead_present
 
   def step(self):

selfdrive/car/redneck_cruise.py

@@ -45,9 +45,12 @@ 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, allow_plan_decrease: bool = True,
                                 lead_present: bool = False, lead_distance_m: float = 0.0,
-                                lead_rel_speed_ms: float = 0.0) -> float:
+                                lead_rel_speed_ms: float = 0.0,
+                                slc_target_speed_ms: float = 0.0) -> float:
   target_speed_ms = float(speed_cluster_ms)
-  if v_cruise_kph > 0:
+  if slc_target_speed_ms > 0:
+    target_speed_ms = float(slc_target_speed_ms)
+  elif 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)

selfdrive/car/tests/test_redneck_cruise.py

@@ -4,6 +4,7 @@ from types import SimpleNamespace
 from cereal import car
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.car.redneck_cruise import (
   DECREASE_INACTIVE_TIMER,
   INCREASE_INACTIVE_TIMER,
@@ -168,6 +169,33 @@ class TestRedneckCruise(unittest.TestCase):
     )
     self.assertAlmostEqual(104.4 * CV.KPH_TO_MS, target_speed)
 
+  def test_target_speed_follows_resolved_slc_target(self):
+    for internal_mph, slc_mph in ((55.0, 65.0), (65.0, 55.0)):
+      with self.subTest(internal_mph=internal_mph, slc_mph=slc_mph):
+        target_speed = select_redneck_target_speed(
+          internal_mph * CV.MPH_TO_KPH,
+          internal_mph * CV.MPH_TO_MS,
+          0.0,
+          [],
+          10,
+          allow_plan_decrease=False,
+          slc_target_speed_ms=slc_mph * CV.MPH_TO_MS,
+        )
+        self.assertAlmostEqual(slc_mph * CV.MPH_TO_MS, target_speed)
+
+  def test_card_target_speed_uses_longitudinal_acceleration(self):
+    card = SimpleNamespace(CP=SimpleNamespace(openpilotLongitudinalControl=True))
+    car_state = SimpleNamespace(vEgo=55.0 * CV.MPH_TO_MS)
+    car_control = SimpleNamespace(
+      actuators=SimpleNamespace(accel=0.5),
+      hudControl=SimpleNamespace(leadVisible=True),
+    )
+
+    target_speed, lead_present = Car._get_redneck_target_speed(card, car_state, car_control)
+
+    self.assertAlmostEqual(55.0 * CV.MPH_TO_MS * 1.01 + 1.5, target_speed)
+    self.assertTrue(lead_present)
+
   def test_target_speed_returns_plan_minimum_when_slowing_down(self):
     target_speed = select_redneck_target_speed(
       120.0,

selfdrive/ui/layouts/settings/starpilot/vehicle.py

@@ -46,6 +46,7 @@ from openpilot.selfdrive.ui.lib.fingerprint_catalog import (
   shorten_model_label,
 )
 from openpilot.starpilot.common.starpilot_variables import migrate_cancel_button_controls
+from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 
 
 ACTION_OPTIONS = [
@@ -420,6 +421,13 @@ class VehicleSettingsManagerView(PanelManagerView):
         "get_state": lambda: self._controller._params.get_bool("NostalgiaMode"),
         "set_state": lambda s: self._controller._on_toggle("NostalgiaMode"),
       })
+    if cs.redneckCruiseAvailable:
+      toggles.append({
+        "title": tr("Redneck Cruise"),
+        "subtitle": tr("Use RES/SET button presses to match the stock cruise set speed to StarPilot's target."),
+        "get_state": lambda: self._controller._params.get_bool("RedneckCruise"),
+        "set_state": lambda s: self._controller._on_toggle("RedneckCruise"),
+      })
 
     return toggles
 
@@ -679,6 +687,11 @@ class StarPilotVehicleSettingsLayout(_SettingsPage):
         migrate_cancel_button_controls(self._params)
       starpilot_state.update(force=True)
       return
+    if param_key == "RedneckCruise":
+      self._params.put_bool("RedneckCruise", not self._params.get_bool("RedneckCruise"))
+      starpilot_state.update(force=True)
+      restart_needed_callback(None)
+      return
     current = self._params.get_bool(param_key) if self._params.get(param_key) is not None else False
     self._params.put_bool(param_key, not current)
     starpilot_state.update(force=True)

selfdrive/ui/lib/starpilot_state.py

@@ -38,6 +38,7 @@ class StarPilotCarState:
     hasZSS: bool = False
     canUsePedal: bool = False
     canUseSDSU: bool = False
+    redneckCruiseAvailable: bool = False
 
     # ========== Device/Car State ==========
     isFrogsGoMoo: bool = False
@@ -206,12 +207,14 @@ class StarPilotState:
 
         # 2. Parse StarPilotCarParamsPersistent
         fpcp_bytes = self.params.get("StarPilotCarParamsPersistent")
+        self.car_state.redneckCruiseAvailable = False
         if fpcp_bytes is not None:
             try:
                 FPCP = messaging.log_from_bytes(fpcp_bytes, custom.StarPilotCarParams)
                 self.car_state.canUsePedal = FPCP.canUsePedal
                 self.car_state.canUseSDSU = FPCP.canUseSDSU
                 self.car_state.openpilotLongitudinalControlDisabled = FPCP.openpilotLongitudinalControlDisabled
+                self.car_state.redneckCruiseAvailable = bool(FPCP.redneckCruiseAvailable)
             except Exception:
                 pass
 

selfdrive/ui/mici/layouts/settings/vehicle.py

@@ -9,6 +9,7 @@ from openpilot.selfdrive.ui.lib.fingerprint_catalog import (
   shorten_model_label,
 )
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
+from openpilot.selfdrive.ui.lib.starpilot_state import starpilot_state
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
@@ -195,10 +196,10 @@ class VehicleLayoutMici(NavScroller):
     fingerprint_btn = BigButton("fingerprint", "",gui_app.texture("icons_mici/settings/vehicle/fingerprint.png", 58, 64))
     fingerprint_btn.set_click_callback(lambda: gui_app.push_widget(fingerprint_panel))
 
-    # TODO: make it reloadable without restarting ui
-    match ui_state.params.get("CarModel"):
-      case _:
-        vehicle_specific_widgets = tuple()
+    starpilot_state.update(force=True)
+    vehicle_specific_widgets = (
+      BigParamControl("redneck cruise", "RedneckCruise", toggle_callback=restart_needed_callback),
+    ) if starpilot_state.car_state.redneckCruiseAvailable else tuple()
 
     self._scroller.add_widgets([
       fingerprint_btn,
@@ -206,4 +207,3 @@ class VehicleLayoutMici(NavScroller):
     ])
 
     self._font_medium = gui_app.font(FontWeight.MEDIUM)
-