From f428a2b4392f8b404b6aa25ecd6f6f4bdcca878d Mon Sep 17 00:00:00 2001
From: infiniteCable <75014343+infiniteCable@users.noreply.github.com>
Date: Sat, 26 Apr 2025 09:23:08 +0200
Subject: [PATCH] Update cruise.py

---
 selfdrive/car/cruise.py | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index c73643c3d..303edfb9e 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -36,6 +36,7 @@ class VCruiseHelper:
     self.v_cruise_kph_last = 0
     self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
     self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
+    self.v_speed_limit_kph = 0
 
   @property
   def v_cruise_initialized(self):
@@ -47,6 +48,7 @@ class VCruiseHelper:
     if CS.cruiseState.available:
       if not self.CP.pcmCruise:
         # if stock cruise is completely disabled, then we can use our own set speed logic
+        self._update_v_speed_limit(CS, enabled)
         self._update_v_cruise_non_pcm(CS, enabled, is_metric)
         self.v_cruise_cluster_kph = self.v_cruise_kph
         self.update_button_timers(CS, enabled)
@@ -63,6 +65,15 @@ class VCruiseHelper:
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
 
+  def _update_v_speed_limit(self, CS, enabled):
+    if not enabled:
+      return
+
+    speed_limit = CS.cruiseState.speedLimit * CV.MS_TO_KPH
+    if speed_limit != self.v_speed_limit_kph and speed_limit != 0:
+      self.v_cruise_kph = speed_limit
+      self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+
   def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
     # handle button presses. TODO: this should be in state_control, but a decelCruise press
     # would have the effect of both enabling and changing speed is checked after the state transition