From 59241611b86716e1ce6eef2a03d23baab00c1575 Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Mon, 1 Dec 2025 12:00:00 -0700
Subject: [PATCH] Use Wheel Speed

---
 selfdrive/ui/qt/onroad/hud.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc
index 30729192..c08072da 100644
--- a/selfdrive/ui/qt/onroad/hud.cc
+++ b/selfdrive/ui/qt/onroad/hud.cc
@@ -34,7 +34,7 @@ void HudRenderer::updateState(const UIState &s) {
 
   // Handle older routes where vEgoCluster is not set
   v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
+  float v_ego = v_ego_cluster_seen && !frogpilot_toggles.value("use_wheel_speed").toBool() ? car_state.getVEgoCluster() : car_state.getVEgo();
   speed = std::max<float>(0.0f, v_ego * (is_metric ? MS_TO_KPH : MS_TO_MPH));
 }