From c55f40e77d90f2128b8d2fcf14e08c2728339021 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Fri, 19 Sep 2025 22:01:08 -0700
Subject: [PATCH 01/12] ui: Speed Limit Information (#995)

* less for now

* always on and fix conv

* update api

* missed

* fix convert

* only draw when decreasing, seems like a bug from mapd

* use frame check, otherwise too jumpy

* only update when mapd updates

* count up and down

* introduce toggle

* more ui

* slightly wider

* desc

* rename

* slight cleanup

* fix offset position

* more vienna fix

* fix ahead alignment

* road name in another PR

* cleanup

* single place

* adjust ahead distance display

* cleanup

* Near

* bump it

* cleanup logic

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |   1 +
 common/util.h                                 |   1 +
 .../longitudinal/speed_limit/helpers.h        |  10 +
 .../speed_limit/speed_limit_settings.cc       |  37 ++-
 .../speed_limit/speed_limit_settings.h        |  16 ++
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      | 213 +++++++++++++++++-
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |  11 +
 selfdrive/ui/sunnypilot/ui.cc                 |   3 +-
 selfdrive/ui/sunnypilot/ui_scene.h            |   1 +
 9 files changed, 281 insertions(+), 12 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index a9408037a0..6d60e2cfdd 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -227,6 +227,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
 
     // Speed Limit
+    {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
     {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
     {"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
     {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
diff --git a/common/util.h b/common/util.h
index f46db4d9fa..6d28e3ccbc 100644
--- a/common/util.h
+++ b/common/util.h
@@ -36,6 +36,7 @@ const double MS_TO_KPH = 3.6;
 const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
+const double METER_TO_KM = 1. / 1000.0;
 
 #define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
index 84979a53af..55764372c4 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
@@ -33,3 +33,13 @@ inline const QString SpeedLimitSourcePolicyTexts[]{
   QObject::tr("Map\nFirst"),
   QObject::tr("Combined\nData")
 };
+
+enum class SpeedLimitMode {
+  OFF,
+  INFORMATION,
+};
+
+inline const QString SpeedLimitModeTexts[]{
+  QObject::tr("Off"),
+  QObject::tr("Information"),
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 7508ea134c..2bacbace7c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -20,16 +20,26 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
 
   subPanelLayout->addSpacing(20);
 
-  ListWidgetSP *list = new ListWidgetSP(this);
-
-  auto *speedLimitBtnFrame = new QFrame(this);
-  auto *speedLimitBtnFrameLayout = new QGridLayout();
-  speedLimitBtnFrame->setLayout(speedLimitBtnFrameLayout);
-  speedLimitBtnFrameLayout->setContentsMargins(0, 40, 0, 40);
-  speedLimitBtnFrameLayout->setSpacing(0);
+  ListWidgetSP *list = new ListWidgetSP(this, false);
 
   speedLimitPolicyScreen = new SpeedLimitPolicy(this);
 
+  std::vector<QString> speed_limit_mode_texts{
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)],
+  };
+  speed_limit_mode_settings = new ButtonParamControlSP(
+    "SpeedLimitMode",
+    tr("Speed Limit Mode"),
+    "",
+    "",
+    speed_limit_mode_texts,
+    385);
+  list->addItem(speed_limit_mode_settings);
+
+  list->addItem(horizontal_line());
+  list->addItem(vertical_space());
+
   speedLimitSource = new PushButtonSP(tr("Customize Source"));
   connect(speedLimitSource, &QPushButton::clicked, [&]() {
     setCurrentWidget(speedLimitPolicyScreen);
@@ -41,8 +51,10 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   });
 
   speedLimitSource->setFixedWidth(720);
-  speedLimitBtnFrameLayout->addWidget(speedLimitSource, 0, 0, Qt::AlignLeft);
-  list->addItem(speedLimitBtnFrame);
+  list->addItem(speedLimitSource);
+
+  list->addItem(vertical_space(0));
+  list->addItem(horizontal_line());
 
   QFrame *offsetFrame = new QFrame(this);
   QVBoxLayout *offsetLayout = new QVBoxLayout(offsetFrame);
@@ -73,6 +85,7 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
 
   list->addItem(offsetFrame);
 
+  connect(speed_limit_mode_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitSettings::refresh);
   connect(speed_limit_offset, &OptionControlSP::updateLabels, this, &SpeedLimitSettings::refresh);
   connect(speed_limit_offset_settings, &ButtonParamControlSP::showDescriptionEvent, speed_limit_offset, &OptionControlSP::showDescription);
   connect(speed_limit_offset_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitSettings::refresh);
@@ -86,9 +99,11 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
 
 void SpeedLimitSettings::refresh() {
   bool is_metric_param = params.getBool("IsMetric");
+  SpeedLimitMode speed_limit_mode_param = static_cast<SpeedLimitMode>(std::atoi(params.get("SpeedLimitMode").c_str()));
   SpeedLimitOffsetType offset_type_param = static_cast<SpeedLimitOffsetType>(std::atoi(params.get("SpeedLimitOffsetType").c_str()));
   QString offsetLabel = QString::fromStdString(params.get("SpeedLimitValueOffset"));
 
+  speed_limit_mode_settings->setDescription(modeDescription(speed_limit_mode_param));
   speed_limit_offset->setDescription(offsetDescription(offset_type_param));
 
   if (offset_type_param == SpeedLimitOffsetType::PERCENT) {
@@ -104,9 +119,11 @@ void SpeedLimitSettings::refresh() {
     speed_limit_offset->setLabel(offsetLabel);
     speed_limit_offset->showDescription();
   }
+
+  speed_limit_mode_settings->showDescription();
+  speed_limit_offset->showDescription();
 }
 
 void SpeedLimitSettings::showEvent(QShowEvent *event) {
   refresh();
-  speed_limit_offset->showDescription();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
index 40ffead700..ebffcf65e4 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
@@ -27,6 +27,7 @@ signals:
 private:
   Params params;
   QFrame *subPanelFrame;
+  ButtonParamControlSP *speed_limit_mode_settings;
   PushButtonSP *speedLimitSource;
   SpeedLimitPolicy *speedLimitPolicyScreen;
   ButtonParamControlSP *speed_limit_offset_settings;
@@ -50,4 +51,19 @@ private:
         .arg(fixed_str)
         .arg(percent_str);
   }
+
+  static QString modeDescription(SpeedLimitMode mode = SpeedLimitMode::OFF) {
+    QString off_str = tr("⦿ Off: Disables the Speed Limit functions.");
+    QString info_str = tr("⦿ Information: Displays the current road's speed limit.");
+
+    if (mode == SpeedLimitMode::INFORMATION) {
+      info_str = "<font color='white'><b>" + info_str + "</b></font>";
+    } else {
+      off_str = "<font color='white'><b>" + off_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2")
+        .arg(off_str)
+        .arg(info_str);
+  }
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index fb2a69c24b..923eb3bb81 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -27,6 +27,24 @@ void HudRendererSP::updateState(const UIState &s) {
   const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
   const auto car_params = sm["carParams"].getCarParams();
   const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
+  const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();
+
+  is_metric = s.scene.is_metric;
+  float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
+  speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
+  speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
+  speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
+  if (sm.updated("liveMapDataSP")) {
+    speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
+    speedLimitAhead = lmd.getSpeedLimitAhead() * speedConv;
+    speedLimitAheadDistance = lmd.getSpeedLimitAheadDistance();
+    if (speedLimitAheadDistance < speedLimitAheadDistancePrev && speedLimitAheadValidFrame < 2) {
+      speedLimitAheadValidFrame++;
+    } else if (speedLimitAheadDistance > speedLimitAheadDistancePrev && speedLimitAheadValidFrame > 0) {
+      speedLimitAheadValidFrame--;
+    }
+  }
+  speedLimitAheadDistancePrev = speedLimitAheadDistance;
 
   static int reverse_delay = 0;
   bool reverse_allowed = false;
@@ -41,7 +59,6 @@ void HudRendererSP::updateState(const UIState &s) {
   }
 
   reversing = reverse_allowed;
-  is_metric = s.scene.is_metric;
 
   // Handle older routes where vEgoCluster is not set
   v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
@@ -123,6 +140,12 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
     if (standstillTimer) {
       drawStandstillTimer(p, surface_rect.right() / 12 * 10, surface_rect.bottom() / 12 * 1.53);
     }
+
+    // Speed Limit
+    if (speedLimitMode != SpeedLimitMode::OFF) {
+      drawSpeedLimitSigns(p);
+      drawUpcomingSpeedLimit(p);
+    }
   }
 }
 
@@ -311,3 +334,191 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
     standstillElapsedTime = 0.0;
   }
 }
+
+void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
+  QString speedLimitStr = speedLimit > 0 ? QString::number(std::nearbyint(speedLimit)) : "---";
+
+  // Offset display text
+  QString speedLimitSubText = "";
+  if (speedLimitOffset != 0) {
+    speedLimitSubText = (speedLimitOffset > 0 ? "+" : "") + QString::number(std::nearbyint(speedLimitOffset));
+  }
+
+  // Position next to MAX speed box
+  const int sign_width = is_metric ? 200 : 172;
+  const int sign_x = is_metric ? 280 : 272;
+  const int sign_y = 45;
+  const int sign_height = 204;
+  QRect sign_rect(sign_x, sign_y, sign_width, sign_height);
+
+  int alpha = 255;
+
+  if (is_metric) {
+    // EU Vienna Convention style circular sign
+    QRect vienna_rect = sign_rect;
+    int circle_size = std::min(vienna_rect.width(), vienna_rect.height());
+    QRect circle_rect(vienna_rect.x(), vienna_rect.y(), circle_size, circle_size);
+
+    if (vienna_rect.width() > vienna_rect.height()) {
+      circle_rect.moveLeft(vienna_rect.x() + (vienna_rect.width() - circle_size) / 2);
+    } else if (vienna_rect.height() > vienna_rect.width()) {
+      circle_rect.moveTop(vienna_rect.y() + (vienna_rect.height() - circle_size) / 2);
+    }
+
+    // White background circle
+    p.setPen(Qt::NoPen);
+    p.setBrush(QColor(255, 255, 255, alpha));
+    p.drawEllipse(circle_rect);
+
+    // Red border ring with color coding
+    QRect red_ring = circle_rect;
+    QColor ring_color = QColor(255, 0, 0, alpha);
+
+    p.setBrush(ring_color);
+    p.drawEllipse(red_ring);
+
+    // Center white circle for text
+    int ring_size = circle_size * 0.12;
+    QRect center_circle = red_ring.adjusted(ring_size, ring_size, -ring_size, -ring_size);
+    p.setBrush(QColor(255, 255, 255, alpha));
+    p.drawEllipse(center_circle);
+
+    // Speed value, smaller font for 3+ digits
+    int font_size = (speedLimitStr.size() >= 3) ? 70 : 85;
+    p.setFont(InterFont(font_size, QFont::Bold));
+    QColor speed_color = QColor(0, 0, 0, alpha);
+
+    p.setPen(speed_color);
+    p.drawText(center_circle, Qt::AlignCenter, speedLimitStr);
+
+    // Offset value in small circular box
+    if (!speedLimitSubText.isEmpty()) {
+      int offset_circle_size = circle_size * 0.4;
+      int overlap = offset_circle_size * 0.25;
+      QRect offset_circle_rect(
+        circle_rect.right() - offset_circle_size/1.25 + overlap,
+        circle_rect.top() - offset_circle_size/1.75 + overlap,
+        offset_circle_size,
+        offset_circle_size
+      );
+
+      p.setPen(QPen(QColor(77, 77, 77, 255), 6));
+      p.setBrush(QColor(0, 0, 0, alpha));
+      p.drawEllipse(offset_circle_rect);
+
+      p.setFont(InterFont(offset_circle_size * 0.45, QFont::Bold));
+      p.setPen(QColor(255, 255, 255, alpha));
+      p.drawText(offset_circle_rect, Qt::AlignCenter, speedLimitSubText);
+    }
+  } else {
+    // US/Canada MUTCD style sign
+    p.setPen(Qt::NoPen);
+    p.setBrush(QColor(255, 255, 255, alpha));
+    p.drawRoundedRect(sign_rect, 32, 32);
+
+    // Inner border with violation color coding
+    QRect inner_rect = sign_rect.adjusted(10, 10, -10, -10);
+    QColor border_color = QColor(0, 0, 0, alpha);
+
+    p.setPen(QPen(border_color, 4));
+    p.setBrush(QColor(255, 255, 255, alpha));
+    p.drawRoundedRect(inner_rect, 22, 22);
+
+    // "SPEED LIMIT" text
+    p.setFont(InterFont(40, QFont::DemiBold));
+    p.setPen(QColor(0, 0, 0, alpha));
+    p.drawText(inner_rect.adjusted(0, 10, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
+    p.drawText(inner_rect.adjusted(0, 50, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
+
+    // Speed value with color coding
+    p.setFont(InterFont(90, QFont::Bold));
+    QColor speed_color = QColor(0, 0, 0, alpha);
+
+    p.setPen(speed_color);
+    p.drawText(inner_rect.adjusted(0, 80, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
+
+    // Offset value in small box
+    if (!speedLimitSubText.isEmpty()) {
+      int offset_box_size = sign_rect.width() * 0.4;
+      int overlap = offset_box_size * 0.25;
+      QRect offset_box_rect(
+        sign_rect.right() - offset_box_size/1.5 + overlap,
+        sign_rect.top() - offset_box_size/1.25 + overlap,
+        offset_box_size,
+        offset_box_size
+      );
+
+      int corner_radius = offset_box_size * 0.2;
+      p.setPen(QPen(QColor(77, 77, 77, 255), 6));
+      p.setBrush(QColor(0, 0, 0, alpha));
+      p.drawRoundedRect(offset_box_rect, corner_radius, corner_radius);
+
+      p.setFont(InterFont(offset_box_size * 0.45, QFont::Bold));
+      p.setPen(QColor(255, 255, 255, alpha));
+      p.drawText(offset_box_rect, Qt::AlignCenter, speedLimitSubText);
+    }
+  }
+}
+
+void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
+  bool speed_limit_ahead = speedLimitAheadValid && speedLimitAhead > 0 && speedLimitAhead != speedLimit && speedLimitAheadValidFrame > 0;
+  if (!speed_limit_ahead) {
+    return;
+  }
+
+  auto roundToInterval = [&](float distance, int interval, int threshold) {
+    int base = static_cast<int>(distance / interval) * interval;
+    return (distance - base >= threshold) ? base + interval : base;
+  };
+
+  auto outputDistance = [&] {
+    if (is_metric) {
+      if (speedLimitAheadDistance < 50) return tr("Near");
+      if (speedLimitAheadDistance >= 1000) return QString::number(speedLimitAheadDistance * METER_TO_KM, 'f', 1) + tr("km");
+
+      int rounded = (speedLimitAheadDistance < 200) ? std::max(10, roundToInterval(speedLimitAheadDistance, 10, 5)) : roundToInterval(speedLimitAheadDistance, 100, 50);
+      return QString::number(rounded) + tr("m");
+    } else {
+      float distance_ft = speedLimitAheadDistance * METER_TO_FOOT;
+      if (distance_ft < 100) return tr("Near");
+      if (distance_ft >= 900) return QString::number(speedLimitAheadDistance * METER_TO_MILE, 'f', 1) + tr("mi");
+
+      int rounded = (distance_ft < 500) ? std::max(50, roundToInterval(distance_ft, 50, 25)) : roundToInterval(distance_ft, 100, 50);
+      return QString::number(rounded) + tr("ft");
+    }
+  };
+
+  QString speedStr = QString::number(std::nearbyint(speedLimitAhead));
+  QString distanceStr = outputDistance();
+
+  // Position below current speed limit sign
+  const int sign_width = is_metric ? 200 : 172;
+  const int sign_x = is_metric ? 280 : 272;
+  const int sign_y = 45;
+  const int sign_height = 204;
+
+  const int ahead_width = 170;
+  const int ahead_height = 160;
+  const int ahead_x = sign_x + (sign_width - ahead_width) / 2;
+  const int ahead_y = sign_y + sign_height + 10;
+
+  QRect ahead_rect(ahead_x, ahead_y, ahead_width, ahead_height);
+  p.setPen(QPen(QColor(255, 255, 255, 100), 3));
+  p.setBrush(QColor(0, 0, 0, 180));
+  p.drawRoundedRect(ahead_rect, 16, 16);
+
+  // "AHEAD" label
+  p.setFont(InterFont(40, QFont::DemiBold));
+  p.setPen(QColor(200, 200, 200, 255));
+  p.drawText(ahead_rect.adjusted(0, 4, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("AHEAD"));
+
+  // Speed value
+  p.setFont(InterFont(70, QFont::Bold));
+  p.setPen(QColor(255, 255, 255, 255));
+  p.drawText(ahead_rect.adjusted(0, 38, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedStr);
+
+  // Distance
+  p.setFont(InterFont(40, QFont::Normal));
+  p.setPen(QColor(180, 180, 180, 255));
+  p.drawText(ahead_rect.adjusted(0, 110, 0, 0), Qt::AlignTop | Qt::AlignHCenter, distanceStr);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 4c92835957..d76eb06060 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -8,6 +8,7 @@
 #pragma once
 
 #include "selfdrive/ui/qt/onroad/hud.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
 #include "selfdrive/ui/sunnypilot/qt/onroad/developer_ui/developer_ui.h"
 
 class HudRendererSP : public HudRenderer {
@@ -28,6 +29,8 @@ private:
   void drawStandstillTimer(QPainter &p, int x, int y);
   bool pulseElement(int frame);
   void drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name);
+  void drawSpeedLimitSigns(QPainter &p);
+  void drawUpcomingSpeedLimit(QPainter &p);
 
   bool lead_status;
   float lead_d_rel;
@@ -63,4 +66,12 @@ private:
   bool smartCruiseControlVisionEnabled;
   bool smartCruiseControlVisionActive;
   int smartCruiseControlVisionFrame;
+  float speedLimit;
+  float speedLimitOffset;
+  bool speedLimitAheadValid;
+  float speedLimitAhead;
+  float speedLimitAheadDistance;
+  float speedLimitAheadDistancePrev;
+  int speedLimitAheadValidFrame;
+  SpeedLimitMode speedLimitMode = SpeedLimitMode::OFF;
 };
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 7b10929bc6..7f83e5ea79 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -20,7 +20,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
     "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
     "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters"
+    "carStateSP", "liveParameters", "liveMapDataSP"
   });
 
   // update timer
@@ -53,6 +53,7 @@ void ui_update_params_sp(UIStateSP *s) {
   auto params = Params();
   s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
   s->scene.standstill_timer = params.getBool("StandstillTimer");
+  s->scene.speed_limit_mode = params.getBool("SpeedLimitMode");
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h
index c941be675c..69cebd6d79 100644
--- a/selfdrive/ui/sunnypilot/ui_scene.h
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -10,4 +10,5 @@
 typedef struct UISceneSP : UIScene {
   int dev_ui_info = 0;
   bool standstill_timer = false;
+  int speed_limit_mode = 0;
 } UISceneSP;

From bdb83b6be17f6663b9de97ebccb403ad8fd4751f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 01:40:51 -0400
Subject: [PATCH 02/12] ui: remove redundant code (#1262)

---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 923eb3bb81..47ba0590d1 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -17,7 +17,6 @@ void HudRendererSP::updateState(const UIState &s) {
   HudRenderer::updateState(s);
 
   const SubMaster &sm = *(s.sm);
-  const bool cs_alive = sm.alive("controlsState");
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
   const auto car_control = sm["carControl"].getCarControl();
@@ -29,7 +28,6 @@ void HudRendererSP::updateState(const UIState &s) {
   const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
   const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();
 
-  is_metric = s.scene.is_metric;
   float speedConv = is_metric ? MS_TO_KPH : MS_TO_MPH;
   speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
   speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
@@ -60,12 +58,6 @@ void HudRendererSP::updateState(const UIState &s) {
 
   reversing = reverse_allowed;
 
-  // 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();
-  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
-
   latActive = car_control.getLatActive();
   steerOverride = car_state.getSteeringPressed();
 

From c248f307f86350e16734bb427a6a1c7750618b8a Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 01:59:07 -0400
Subject: [PATCH 03/12] ui: Speed Limit Warning (#1263)

* ui: Speed Limit Warning

* missed

* behind toggle

* missed

* reorder

* fix type
---
 .../settings/longitudinal/speed_limit/helpers.h      |  2 ++
 .../longitudinal/speed_limit/speed_limit_settings.cc |  1 +
 .../longitudinal/speed_limit/speed_limit_settings.h  | 10 +++++++---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc             | 12 +++++++-----
 selfdrive/ui/sunnypilot/ui.cc                        |  2 +-
 5 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
index 55764372c4..22cdd8c631 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h
@@ -37,9 +37,11 @@ inline const QString SpeedLimitSourcePolicyTexts[]{
 enum class SpeedLimitMode {
   OFF,
   INFORMATION,
+  WARNING,
 };
 
 inline const QString SpeedLimitModeTexts[]{
   QObject::tr("Off"),
   QObject::tr("Information"),
+  QObject::tr("Warning"),
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 2bacbace7c..6f48833611 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -27,6 +27,7 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   std::vector<QString> speed_limit_mode_texts{
     SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::OFF)],
     SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::INFORMATION)],
+    SpeedLimitModeTexts[static_cast<int>(SpeedLimitMode::WARNING)],
   };
   speed_limit_mode_settings = new ButtonParamControlSP(
     "SpeedLimitMode",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
index ebffcf65e4..f83f450557 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
@@ -55,15 +55,19 @@ private:
   static QString modeDescription(SpeedLimitMode mode = SpeedLimitMode::OFF) {
     QString off_str = tr("⦿ Off: Disables the Speed Limit functions.");
     QString info_str = tr("⦿ Information: Displays the current road's speed limit.");
+    QString warning_str = tr("⦿ Warning: Provides a warning when exceeding the current road's speed limit.");
 
-    if (mode == SpeedLimitMode::INFORMATION) {
+    if (mode == SpeedLimitMode::WARNING) {
+      warning_str = "<font color='white'><b>" + warning_str + "</b></font>";
+    } else if (mode == SpeedLimitMode::INFORMATION) {
       info_str = "<font color='white'><b>" + info_str + "</b></font>";
     } else {
       off_str = "<font color='white'><b>" + off_str + "</b></font>";
     }
 
-    return QString("%1<br>%2")
+    return QString("%1<br>%2<br>%3")
         .arg(off_str)
-        .arg(info_str);
+        .arg(info_str)
+        .arg(warning_str);
   }
 };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 47ba0590d1..71bdd92cab 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -328,7 +328,10 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
 }
 
 void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
-  QString speedLimitStr = speedLimit > 0 ? QString::number(std::nearbyint(speedLimit)) : "---";
+  int speedLimitRounded = std::nearbyint(speedLimit);
+  bool overspeed = speedLimitRounded < std::nearbyint(speed) && speedLimitRounded > 0;
+  bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING;
+  QString speedLimitStr = speedLimit > 0 ? QString::number(speedLimitRounded) : "---";
 
   // Offset display text
   QString speedLimitSubText = "";
@@ -344,6 +347,8 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
   QRect sign_rect(sign_x, sign_y, sign_width, sign_height);
 
   int alpha = 255;
+  QColor red_color = QColor(255, 0, 0, alpha);
+  QColor speed_color = (speedLimitWarningEnabled && overspeed) ? red_color : QColor(0, 0, 0, alpha);
 
   if (is_metric) {
     // EU Vienna Convention style circular sign
@@ -364,9 +369,8 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
 
     // Red border ring with color coding
     QRect red_ring = circle_rect;
-    QColor ring_color = QColor(255, 0, 0, alpha);
 
-    p.setBrush(ring_color);
+    p.setBrush(red_color);
     p.drawEllipse(red_ring);
 
     // Center white circle for text
@@ -378,7 +382,6 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
     // Speed value, smaller font for 3+ digits
     int font_size = (speedLimitStr.size() >= 3) ? 70 : 85;
     p.setFont(InterFont(font_size, QFont::Bold));
-    QColor speed_color = QColor(0, 0, 0, alpha);
 
     p.setPen(speed_color);
     p.drawText(center_circle, Qt::AlignCenter, speedLimitStr);
@@ -424,7 +427,6 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
 
     // Speed value with color coding
     p.setFont(InterFont(90, QFont::Bold));
-    QColor speed_color = QColor(0, 0, 0, alpha);
 
     p.setPen(speed_color);
     p.drawText(inner_rect.adjusted(0, 80, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 7f83e5ea79..7b582a8341 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -53,7 +53,7 @@ void ui_update_params_sp(UIStateSP *s) {
   auto params = Params();
   s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
   s->scene.standstill_timer = params.getBool("StandstillTimer");
-  s->scene.speed_limit_mode = params.getBool("SpeedLimitMode");
+  s->scene.speed_limit_mode = std::atoi(params.get("SpeedLimitMode").c_str());
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {

From 55b7529ca4b6b4a7704dd3822109a54d9397b571 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 05:23:02 -0400
Subject: [PATCH 04/12] ui: Road Name (#1265)

---
 .../qt/offroad/settings/visuals_panel.cc      | 13 +++++--
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc      | 35 +++++++++++++++++++
 selfdrive/ui/sunnypilot/qt/onroad/hud.h       |  3 ++
 selfdrive/ui/sunnypilot/ui.cc                 |  1 +
 selfdrive/ui/sunnypilot/ui_scene.h            |  1 +
 5 files changed, 50 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index e19760f2e1..ca58282a3d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -25,21 +25,28 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
       "BlindSpot",
       tr("Show Blind Spot Warnings"),
       tr("Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."),
-      "../assets/offroad/icon_monitoring.png",
+      "",
       false,
     },
     {
       "RainbowMode",
       tr("Enable Tesla Rainbow Mode"),
       RainbowizeWords(tr("A beautiful rainbow effect on the path the model wants to take.")) + "<br/><i>" + tr("It")+ " <b>" + tr("does not") + "</b> " + tr("affect driving in any way.") + "</i>",
-      "../assets/offroad/icon_monitoring.png",
+      "",
       false,
     },
     {
       "StandstillTimer",
       tr("Enable Standstill Timer"),
       tr("Show a timer on the HUD when the car is at a standstill."),
-      "../assets/offroad/icon_monitoring.png",
+      "",
+      false,
+    },
+    {
+      "RoadName",
+      tr("Display Road Name"),
+      tr("Displays the name of the road the car is traveling on. The OpenStreetMap database of the location must be downloaded from the OSM panel to fetch the road name."),
+      "",
       false,
     },
   };
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 71bdd92cab..991710bbfa 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -32,7 +32,9 @@ void HudRendererSP::updateState(const UIState &s) {
   speedLimit = lp_sp.getSpeedLimit().getResolver().getSpeedLimit() * speedConv;
   speedLimitOffset = lp_sp.getSpeedLimit().getResolver().getSpeedLimitOffset() * speedConv;
   speedLimitMode = static_cast<SpeedLimitMode>(s.scene.speed_limit_mode);
+  roadName = s.scene.road_name;
   if (sm.updated("liveMapDataSP")) {
+    roadNameStr = QString::fromStdString(lmd.getRoadName());
     speedLimitAheadValid = lmd.getSpeedLimitAheadValid();
     speedLimitAhead = lmd.getSpeedLimitAhead() * speedConv;
     speedLimitAheadDistance = lmd.getSpeedLimitAheadDistance();
@@ -138,6 +140,9 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
       drawSpeedLimitSigns(p);
       drawUpcomingSpeedLimit(p);
     }
+
+    // Road Name
+    drawRoadName(p, surface_rect);
   }
 }
 
@@ -516,3 +521,33 @@ void HudRendererSP::drawUpcomingSpeedLimit(QPainter &p) {
   p.setPen(QColor(180, 180, 180, 255));
   p.drawText(ahead_rect.adjusted(0, 110, 0, 0), Qt::AlignTop | Qt::AlignHCenter, distanceStr);
 }
+
+void HudRendererSP::drawRoadName(QPainter &p, const QRect &surface_rect) {
+  if (!roadName || roadNameStr.isEmpty()) return;
+
+  // Measure text to size container
+  p.setFont(InterFont(40, QFont::Normal));
+  QFontMetrics fm(p.font());
+
+  int text_width = fm.horizontalAdvance(roadNameStr);
+  int padding = 40;
+  int rect_width = text_width + padding;
+
+  // Constrain to reasonable bounds
+  int min_width = 200;
+  int max_width = surface_rect.width() - 40;
+  rect_width = std::max(min_width, std::min(rect_width, max_width));
+
+  // Center at top of screen
+  QRect road_rect(surface_rect.width() / 2 - rect_width / 2, -6, rect_width, 60);
+
+  p.setPen(Qt::NoPen);
+  p.setBrush(QColor(0, 0, 0, 120));
+  p.drawRoundedRect(road_rect, 12, 12);
+
+  p.setPen(QColor(255, 255, 255, 200));
+
+  // Truncate if still too long
+  QString truncated = fm.elidedText(roadNameStr, Qt::ElideRight, road_rect.width() - 20);
+  p.drawText(road_rect, Qt::AlignCenter, truncated);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index d76eb06060..073780bc10 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -31,6 +31,7 @@ private:
   void drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name);
   void drawSpeedLimitSigns(QPainter &p);
   void drawUpcomingSpeedLimit(QPainter &p);
+  void drawRoadName(QPainter &p, const QRect &surface_rect);
 
   bool lead_status;
   float lead_d_rel;
@@ -74,4 +75,6 @@ private:
   float speedLimitAheadDistancePrev;
   int speedLimitAheadValidFrame;
   SpeedLimitMode speedLimitMode = SpeedLimitMode::OFF;
+  bool roadName;
+  QString roadNameStr;
 };
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 7b582a8341..9acf844088 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -54,6 +54,7 @@ void ui_update_params_sp(UIStateSP *s) {
   s->scene.dev_ui_info = std::atoi(params.get("DevUIInfo").c_str());
   s->scene.standstill_timer = params.getBool("StandstillTimer");
   s->scene.speed_limit_mode = std::atoi(params.get("SpeedLimitMode").c_str());
+  s->scene.road_name = params.getBool("RoadName");
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
diff --git a/selfdrive/ui/sunnypilot/ui_scene.h b/selfdrive/ui/sunnypilot/ui_scene.h
index 69cebd6d79..768cc5d7a1 100644
--- a/selfdrive/ui/sunnypilot/ui_scene.h
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -11,4 +11,5 @@ typedef struct UISceneSP : UIScene {
   int dev_ui_info = 0;
   bool standstill_timer = false;
   int speed_limit_mode = 0;
+  bool road_name = false;
 } UISceneSP;

From 5f3821c1f9ce589d4bd37ae7fbc5ce6ad94fa825 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 12:21:13 -0400
Subject: [PATCH 05/12] Longitudinal planner: expose custom vTarget and aTarget
 (#1267)

---
 cereal/custom.capnp                                    |  2 ++
 .../selfdrive/controls/lib/longitudinal_planner.py     | 10 +++++++---
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 6527838097..c4360ae311 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -146,6 +146,8 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   longitudinalPlanSource @1 :LongitudinalPlanSource;
   smartCruiseControl @2 :SmartCruiseControl;
   speedLimit @3 :SpeedLimit;
+  vTarget @4 :Float32;
+  aTarget @5 :Float32;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index b4f4fe6d7c..3e4dbd9ab2 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -24,6 +24,9 @@ class LongitudinalPlannerSP:
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
     self.source = Source.cruise
 
+    self.output_v_target = 0.
+    self.output_a_target = 0.
+
   @property
   def mlsim(self) -> bool:
     # If we don't have a generation set, we assume it's default model. Which as of today are mlsim.
@@ -47,9 +50,8 @@ class LongitudinalPlannerSP:
     }
 
     self.source = min(targets, key=lambda k: targets[k][0])
-    v_target, a_target = targets[self.source]
-
-    return v_target, a_target
+    self.output_v_target, self.output_a_target = targets[self.source]
+    return self.output_v_target, self.output_a_target
 
   def update(self, sm: messaging.SubMaster) -> None:
     self.dec.update(sm)
@@ -61,6 +63,8 @@ class LongitudinalPlannerSP:
 
     longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
     longitudinalPlanSP.longitudinalPlanSource = self.source
+    longitudinalPlanSP.vTarget = float(self.output_v_target)
+    longitudinalPlanSP.aTarget = float(self.output_a_target)
 
     # Dynamic Experimental Control
     dec = longitudinalPlanSP.dec

From 632b416f2ac130d0754efeebdea5588d89da5210 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 14:22:10 -0400
Subject: [PATCH 06/12] ICBM: use `longitudinalPlanSP.vTarget` directly for
 evaluation (#1266)

* ICBM: add SCC-V to v_targets list

* Longitudinal planner: expose custom vTarget and aTarget

* use the source directly
---
 selfdrive/selfdrived/selfdrived.py               |  4 ++--
 .../controller.py                                | 16 ++++------------
 2 files changed, 6 insertions(+), 14 deletions(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 69dc51360b..170e184629 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -96,7 +96,7 @@ class SelfdriveD(CruiseHelper):
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
-                                   'modelDataV2SP'] + \
+                                   'modelDataV2SP', 'longitudinalPlanSP'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -444,7 +444,7 @@ class SelfdriveD(CruiseHelper):
           self.events.add(EventName.personalityChanged)
         self.experimental_mode_switched = False
 
-    self.icbm.run(CS, self.sm['carControl'], self.is_metric)
+    self.icbm.run(CS, self.sm['carControl'], self.sm['longitudinalPlanSP'], self.is_metric)
 
   def data_sample(self):
     _car_state = messaging.recv_one(self.car_state_sock)
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
index 7ee7f3ea64..468e6f55b5 100644
--- a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
+++ b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
@@ -49,19 +49,11 @@ class IntelligentCruiseButtonManagement:
   def v_cruise_equal(self) -> bool:
     return self.v_target == self.v_cruise_cluster
 
-  def update_calculations(self, CS: car.CarState) -> None:
+  def update_calculations(self, CS: car.CarState, LP_SP: custom.LongitudinalPlanSP) -> None:
     speed_conv = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH
     ms_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
-    v_cruise_ms = CS.vCruise * CV.KPH_TO_MS
 
-    # all targets in m/s
-    v_targets = {
-      LongitudinalPlanSource.cruise: v_cruise_ms
-    }
-    source = min(v_targets, key=lambda k: v_targets[k])
-    v_target_ms = v_targets[source]
-
-    self.v_target_ms_last = apply_hysteresis(v_target_ms, self.v_target_ms_last, HYST_GAP * ms_conv)
+    self.v_target_ms_last = apply_hysteresis(LP_SP.vTarget, self.v_target_ms_last, HYST_GAP * ms_conv)
 
     self.v_target = round(self.v_target_ms_last * speed_conv)
     self.v_cruise_min = get_minimum_set_speed(self.is_metric)
@@ -123,13 +115,13 @@ class IntelligentCruiseButtonManagement:
 
     self.is_ready = ready and not button_pressed
 
-  def run(self, CS: car.CarState, CC: car.CarControl, is_metric: bool) -> None:
+  def run(self, CS: car.CarState, CC: car.CarControl, LP_SP: custom.LongitudinalPlanSP, is_metric: bool) -> None:
     if self.CP_SP.pcmCruiseSpeed:
       return
 
     self.is_metric = is_metric
 
-    self.update_calculations(CS)
+    self.update_calculations(CS, LP_SP)
     self.update_readiness(CS, CC)
 
     self.cruise_button = self.update_state_machine()

From 2892dc05c8585ba316c9e5ac49744d75c9eced78 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 16:20:22 -0400
Subject: [PATCH 07/12] mapd: use SubMaster polling to validate GPS status
 (#1268)

---
 sunnypilot/mapd/live_map_data/base_map_data.py | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/sunnypilot/mapd/live_map_data/base_map_data.py b/sunnypilot/mapd/live_map_data/base_map_data.py
index 536d7720b7..6c7679420a 100644
--- a/sunnypilot/mapd/live_map_data/base_map_data.py
+++ b/sunnypilot/mapd/live_map_data/base_map_data.py
@@ -4,12 +4,12 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import time
 from abc import abstractmethod, ABC
 
 from cereal import messaging
 from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.navd.helpers import Coordinate, coordinate_from_param
 
 
@@ -18,7 +18,9 @@ class BaseMapData(ABC):
     self.params = Params()
 
     self.gps_location_service = get_gps_location_service(self.params)
-    self.sm = messaging.SubMaster(['livePose', 'carControl'] + [self.gps_location_service])
+    gps_packets = [self.gps_location_service]
+    self.sm = messaging.SubMaster(['livePose'] + gps_packets, ignore_alive=gps_packets, ignore_avg_freq=gps_packets,
+                                  ignore_valid=gps_packets, poll='livePose')
     self.pm = messaging.PubMaster(['liveMapDataSP'])
 
     self.last_position = coordinate_from_param("LastGPSPosition", self.params)
@@ -44,20 +46,22 @@ class BaseMapData(ABC):
     gps = self.sm[self.gps_location_service]
 
     # ignore the message if the fix is invalid
-    gps_ok = self.sm.updated[self.gps_location_service] or (time.monotonic() - self.sm.logMonoTime[self.gps_location_service] / 1e9) > 2.0
+    gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_MDL < 2.0
     if not gps_ok and self.sm['livePose'].inputsOK:
-      return None
+      return
 
     # livePose has these data, but aren't on cereal
     self.last_position = Coordinate(gps.latitude, gps.longitude)
     self.last_altitude = gps.altitude
 
+    return
+
   def publish(self) -> None:
     speed_limit = self.get_current_speed_limit()
     next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance()
 
     mapd_sp_send = messaging.new_message('liveMapDataSP')
-    mapd_sp_send.valid = self.sm.all_checks(service_list=[self.gps_location_service, 'livePose'])
+    mapd_sp_send.valid = self.sm.all_checks(['livePose'])
     live_map_data = mapd_sp_send.liveMapDataSP
 
     live_map_data.speedLimitValid = bool(speed_limit > 0)

From 629cfd845f1b6fd8723c915f025ba0c18e58a2a0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 17:23:24 -0400
Subject: [PATCH 08/12] ui: fix scrolling behavior in Speed Limit settings
 (#1269)

* rename

* ui: fix scrolling behavior in Speed Limit settings
---
 .../longitudinal/speed_limit/speed_limit_policy.cc         | 5 ++++-
 .../settings/longitudinal/speed_limit/speed_limit_policy.h | 2 ++
 .../longitudinal/speed_limit/speed_limit_settings.cc       | 7 +++++--
 .../longitudinal/speed_limit/speed_limit_settings.h        | 2 ++
 4 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc
index 46f361a153..764a8e0208 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.cc
@@ -4,6 +4,7 @@
  * This file is part of sunnypilot and is licensed under the MIT License.
  * See the LICENSE.md file in the root directory for more details.
  */
+#include <QScrollBar>
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h"
 
@@ -38,8 +39,9 @@ SpeedLimitPolicy::SpeedLimitPolicy(QWidget *parent) : QWidget(parent) {
   list->addItem(speed_limit_policy);
   connect(speed_limit_policy, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitPolicy::refresh);
 
+  speedLimitPolicyScroller = new ScrollViewSP(list, this);
+  main_layout->addWidget(speedLimitPolicyScroller);
   refresh();
-  main_layout->addWidget(list);
 };
 
 void SpeedLimitPolicy::refresh() {
@@ -48,6 +50,7 @@ void SpeedLimitPolicy::refresh() {
 }
 
 void SpeedLimitPolicy::showEvent(QShowEvent *event) {
+  speedLimitPolicyScroller->verticalScrollBar()->setValue(0);
   refresh();
   speed_limit_policy->showDescription();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h
index adeb115db9..219aa53c6e 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h
@@ -10,6 +10,7 @@
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 class SpeedLimitPolicy : public QWidget {
   Q_OBJECT
@@ -25,6 +26,7 @@ signals:
 private:
   Params params;
   ButtonParamControlSP *speed_limit_policy;
+  ScrollViewSP *speedLimitPolicyScroller;
 
   static QString sourceDescription(SpeedLimitSourcePolicy type = SpeedLimitSourcePolicy::CAR_ONLY) {
     QString car_only = tr("⦿ Car Only: Use Speed Limit data only from Car");
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 6f48833611..eed0306ca0 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -31,7 +31,7 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   };
   speed_limit_mode_settings = new ButtonParamControlSP(
     "SpeedLimitMode",
-    tr("Speed Limit Mode"),
+    tr("Speed Limit"),
     "",
     "",
     speed_limit_mode_texts,
@@ -43,10 +43,12 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
 
   speedLimitSource = new PushButtonSP(tr("Customize Source"));
   connect(speedLimitSource, &QPushButton::clicked, [&]() {
+    speedLimitScroller->setLastScrollPosition();
     setCurrentWidget(speedLimitPolicyScreen);
     speedLimitPolicyScreen->refresh();
   });
   connect(speedLimitPolicyScreen, &SpeedLimitPolicy::backPress, [&]() {
+    speedLimitScroller->restoreScrollPosition();
     setCurrentWidget(subPanelFrame);
     showEvent(new QShowEvent());
   });
@@ -92,7 +94,8 @@ SpeedLimitSettings::SpeedLimitSettings(QWidget *parent) : QStackedWidget(parent)
   connect(speed_limit_offset_settings, &ButtonParamControlSP::buttonClicked, this, &SpeedLimitSettings::refresh);
 
   refresh();
-  subPanelLayout->addWidget(list);
+  speedLimitScroller = new ScrollViewSP(list, this);
+  subPanelLayout->addWidget(speedLimitScroller);
   addWidget(subPanelFrame);
   addWidget(speedLimitPolicyScreen);
   setCurrentWidget(subPanelFrame);
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
index f83f450557..61c86f9208 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h
@@ -12,6 +12,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/helpers.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_policy.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 class SpeedLimitSettings : public QStackedWidget {
   Q_OBJECT
@@ -26,6 +27,7 @@ signals:
 
 private:
   Params params;
+  ScrollViewSP *speedLimitScroller;
   QFrame *subPanelFrame;
   ButtonParamControlSP *speed_limit_mode_settings;
   PushButtonSP *speedLimitSource;

From 569a9216db77e650ec55a3062724d7c881cab60e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 17:36:13 -0400
Subject: [PATCH 09/12] ui: only draw speed limit offset when speed limit is
 valid (#1270)

---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 991710bbfa..6805422393 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -333,15 +333,16 @@ void HudRendererSP::drawStandstillTimer(QPainter &p, int x, int y) {
 }
 
 void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
+  bool speedLimitValid = speedLimit > 0;
   int speedLimitRounded = std::nearbyint(speedLimit);
   bool overspeed = speedLimitRounded < std::nearbyint(speed) && speedLimitRounded > 0;
   bool speedLimitWarningEnabled = speedLimitMode == SpeedLimitMode::WARNING;
-  QString speedLimitStr = speedLimit > 0 ? QString::number(speedLimitRounded) : "---";
+  QString speedLimitStr = speedLimitValid ? QString::number(speedLimitRounded) : "---";
 
   // Offset display text
   QString speedLimitSubText = "";
   if (speedLimitOffset != 0) {
-    speedLimitSubText = (speedLimitOffset > 0 ? "+" : "") + QString::number(std::nearbyint(speedLimitOffset));
+    speedLimitSubText = (speedLimitOffset > 0 ? "+" : "-") + QString::number(std::nearbyint(speedLimitOffset));
   }
 
   // Position next to MAX speed box
@@ -392,7 +393,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
     p.drawText(center_circle, Qt::AlignCenter, speedLimitStr);
 
     // Offset value in small circular box
-    if (!speedLimitSubText.isEmpty()) {
+    if (!speedLimitSubText.isEmpty() && speedLimitValid) {
       int offset_circle_size = circle_size * 0.4;
       int overlap = offset_circle_size * 0.25;
       QRect offset_circle_rect(
@@ -437,7 +438,7 @@ void HudRendererSP::drawSpeedLimitSigns(QPainter &p) {
     p.drawText(inner_rect.adjusted(0, 80, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
 
     // Offset value in small box
-    if (!speedLimitSubText.isEmpty()) {
+    if (!speedLimitSubText.isEmpty() && speedLimitValid) {
       int offset_box_size = sign_rect.width() * 0.4;
       int overlap = offset_box_size * 0.25;
       QRect offset_box_rect(

From 2efe78a4ef16aab116a26a673f7764f421d686d4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Sep 2025 17:48:13 -0400
Subject: [PATCH 10/12] ICBM: allow button commands at all speeds (#1271)

* ICBM: allow button commands at all speeds

* use openpilot state
---
 .../car/intelligent_cruise_button_management/controller.py    | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
index 468e6f55b5..1f491e0f58 100644
--- a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
+++ b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
@@ -108,9 +108,7 @@ class IntelligentCruiseButtonManagement:
   def update_readiness(self, CS: car.CarState, CC: car.CarControl) -> None:
     update_manual_button_timers(CS, self.cruise_button_timers)
 
-    allowed_speed = CS.vEgo > ALLOWED_SPEED_THRESHOLD
-    ready = CS.cruiseState.enabled and allowed_speed and not CC.cruiseControl.override and not CC.cruiseControl.cancel and \
-            not CC.cruiseControl.resume
+    ready = CC.enabled and not CC.cruiseControl.override and not CC.cruiseControl.cancel and not CC.cruiseControl.resume
     button_pressed = any(self.cruise_button_timers[k] > 0 for k in self.cruise_button_timers)
 
     self.is_ready = ready and not button_pressed

From 563ae654438d49abf711d89410430b98836fe64b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 21 Sep 2025 00:33:43 -0400
Subject: [PATCH 11/12] ui: Road Name param should be persistent (#1273)

---
 common/params_keys.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 6d60e2cfdd..e9ffcfc1fd 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -224,7 +224,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateName", {PERSISTENT, STRING, "All"}},
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
-    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"RoadName", {PERSISTENT, STRING}},
 
     // Speed Limit
     {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},

From d5a873ed8617cefd691509c9cc5dc4ec7ea42ff4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 21 Sep 2025 02:53:03 -0400
Subject: [PATCH 12/12] ui: generic check with ICBM param (#1274)

---
 .../qt/offroad/settings/longitudinal_panel.cc          | 10 ++++++----
 .../qt/offroad/settings/longitudinal_panel.h           |  3 ++-
 selfdrive/ui/sunnypilot/qt/util.cc                     |  4 ++++
 selfdrive/ui/sunnypilot/qt/util.h                      |  1 +
 4 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
index 205f64a0b2..8faa907a6d 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -80,6 +80,7 @@ void LongitudinalPanel::showEvent(QShowEvent *event) {
 }
 
 void LongitudinalPanel::refresh(bool _offroad) {
+  auto icbm_available = false;
   auto cp_bytes = params.get("CarParamsPersistent");
   auto cp_sp_bytes = params.get("CarParamsSPPersistent");
   if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
@@ -92,11 +93,12 @@ void LongitudinalPanel::refresh(bool _offroad) {
 
     has_longitudinal_control = hasLongitudinalControl(CP);
     is_pcm_cruise = CP.getPcmCruise();
-    intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+    icbm_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
+    has_intelligent_cruise_button_management = hasIntelligentCruiseButtonManagement(CP_SP);
   } else {
     has_longitudinal_control = false;
     is_pcm_cruise = false;
-    intelligent_cruise_button_management_available = false;
+    has_intelligent_cruise_button_management = false;
   }
 
   QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
@@ -108,7 +110,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     customAccIncrement->setDescription(onroadOnlyDescription);
     customAccIncrement->showDescription();
   } else {
-    if (has_longitudinal_control || intelligent_cruise_button_management_available) {
+    if (has_longitudinal_control || icbm_available) {
       if (is_pcm_cruise) {
         customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
         customAccIncrement->showDescription();
@@ -125,7 +127,7 @@ void LongitudinalPanel::refresh(bool _offroad) {
     }
   }
 
-  bool icbm_allowed = intelligent_cruise_button_management_available && !has_longitudinal_control;
+  bool icbm_allowed = has_intelligent_cruise_button_management && !has_longitudinal_control;
   intelligentCruiseButtonManagement->setEnabled(icbm_allowed && offroad);
 
   // enable toggle when long is available and is not PCM cruise
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
index 8464150656..1e26ea22fc 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
@@ -24,7 +25,7 @@ private:
   Params params;
   bool has_longitudinal_control = false;
   bool is_pcm_cruise = false;
-  bool intelligent_cruise_button_management_available = false;;
+  bool has_intelligent_cruise_button_management = false;;
   bool offroad = false;
 
   QStackedLayout *main_layout = nullptr;
diff --git a/selfdrive/ui/sunnypilot/qt/util.cc b/selfdrive/ui/sunnypilot/qt/util.cc
index 2e066e88b5..eaf05942a9 100644
--- a/selfdrive/ui/sunnypilot/qt/util.cc
+++ b/selfdrive/ui/sunnypilot/qt/util.cc
@@ -123,3 +123,7 @@ std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::
     return std::nullopt;
   }
 }
+
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp) {
+  return car_params_sp.getIntelligentCruiseButtonManagementAvailable() && Params().getBool("IntelligentCruiseButtonManagement");
+}
diff --git a/selfdrive/ui/sunnypilot/qt/util.h b/selfdrive/ui/sunnypilot/qt/util.h
index 4b9d615ce5..60a73615ba 100644
--- a/selfdrive/ui/sunnypilot/qt/util.h
+++ b/selfdrive/ui/sunnypilot/qt/util.h
@@ -23,3 +23,4 @@ std::optional<QString> getParamIgnoringDefault(const std::string &param_name, co
 QMap<QString, QVariantMap> loadPlatformList();
 QStringList searchFromList(const QString &query, const QStringList &list);
 std::optional<cereal::Event::Reader> loadCerealEvent(Params& params, const std::string& _param);
+bool hasIntelligentCruiseButtonManagement(const cereal::CarParamsSP::Reader &car_params_sp);