diff --git a/common/params_keys.h b/common/params_keys.h
index e411398455..26ce6fe28f 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -195,14 +195,4 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"OsmLocationUrl", PERSISTENT},
     {"OsmWayTest", PERSISTENT},
     {"Offroad_OSMUpdateRequired", CLEAR_ON_MANAGER_START},
-
-    // Speed Limit Control
-    {"SpeedLimitControl", PERSISTENT | BACKUP},
-    {"SpeedLimitControlPolicy", PERSISTENT | BACKUP},
-    {"SpeedLimitEngageType", PERSISTENT | BACKUP},
-    {"SpeedLimitOffsetType", PERSISTENT | BACKUP},
-    {"SpeedLimitValueOffset", PERSISTENT | BACKUP},
-    {"SpeedLimitWarningType", PERSISTENT | BACKUP},
-    {"SpeedLimitWarningOffsetType", PERSISTENT | BACKUP},
-    {"SpeedLimitWarningValueOffset", PERSISTENT | BACKUP},
 };
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 4bb3aecf18..4e842f8d1b 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -144,9 +144,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
       accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
 
-    # Get new v_cruise from Speed Limit Control
-    v_cruise = LongitudinalPlannerSP.update_v_cruise(self, sm, not reset_state, self.v_desired_filter.x, self.a_desired, v_cruise)
-
     if force_slow_decel:
       v_cruise = 0.0
 
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index e9892368fb..60036c3082 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -19,8 +19,7 @@ def main():
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
-                            "liveMapDataSP", "carStateSP"],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2')
 
   while True:
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index ec56cbbd3a..3ea3967746 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -88,7 +88,7 @@ class SelfdriveD(CruiseHelper):
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userFlag'] + \
-                                   self.camera_packets + self.sensor_packets + self.gps_packets + ["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))
 
@@ -196,7 +196,6 @@ class SelfdriveD(CruiseHelper):
 
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
-      self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:
diff --git a/sunnypilot/mapd/live_map_data/__init__.py b/sunnypilot/mapd/live_map_data/__init__.py
index 77f21e346f..e11c477088 100644
--- a/sunnypilot/mapd/live_map_data/__init__.py
+++ b/sunnypilot/mapd/live_map_data/__init__.py
@@ -1,4 +1,3 @@
-from cereal import custom
 from openpilot.common.swaglog import cloudlog
 
 LOOK_AHEAD_HORIZON_TIME = 15.  # s. Time horizon for look ahead of turn speed sections to provide on liveMapDataSP msg.
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index f2812c44bf..56f32373d5 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -7,20 +7,14 @@ See the LICENSE.md file in the root directory for more details.
 
 from cereal import messaging, custom
 from opendbc.car import structs
-from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_controller import SpeedLimitController
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 
 
 class LongitudinalPlannerSP:
   def __init__(self, CP: structs.CarParams, mpc):
-    self.events_sp = EventsSP()
-
     self.dec = DynamicExperimentalController(CP, mpc)
-    self.slc = SpeedLimitController(CP)
 
   def get_mpc_mode(self) -> str | None:
     if not self.dec.active():
@@ -28,17 +22,6 @@ class LongitudinalPlannerSP:
 
     return self.dec.mode()
 
-  def update_v_cruise(self, sm: messaging.SubMaster, long_enabled: bool, v_ego: float, a_ego: float, v_cruise: float) -> float:
-    self.events_sp.clear()
-
-    self.slc.update(long_enabled, v_ego, a_ego, sm, v_cruise, self.events_sp)
-
-    v_cruise_slc = self.slc.speed_limit_offseted if self.slc.is_active else V_CRUISE_UNSET
-
-    v_cruise_final = min(v_cruise, v_cruise_slc)
-
-    return v_cruise_final
-
   def update(self, sm: messaging.SubMaster) -> None:
     self.dec.update(sm)
 
@@ -48,7 +31,6 @@ class LongitudinalPlannerSP:
     plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
 
     longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
-    longitudinalPlanSP.events = self.events_sp.to_msg()
 
     # Dynamic Experimental Control
     dec = longitudinalPlanSP.dec
@@ -56,13 +38,4 @@ class LongitudinalPlannerSP:
     dec.enabled = self.dec.enabled()
     dec.active = self.dec.active()
 
-    # Speed Limit Control
-    slc = longitudinalPlanSP.slc
-    slc.state = self.slc.state
-    slc.enabled = self.slc.is_enabled
-    slc.active = self.slc.is_active
-    slc.speedLimit = float(self.slc.speed_limit)
-    slc.speedLimitOffset = float(self.slc.speed_limit_offset)
-    slc.distToSpeedLimit = float(self.slc.distance)
-
     pm.send('longitudinalPlanSP', plan_sp_send)
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/__init__.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/__init__.py
deleted file mode 100644
index b0a6675491..0000000000
--- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/__init__.py
+++ /dev/null
@@ -1,19 +0,0 @@
-from cereal import custom
-
-DEBUG = True
-PARAMS_UPDATE_PERIOD = 2.  # secs. Time between parameter updates.
-TEMP_INACTIVE_GUARD_PERIOD = 1.  # secs. Time to wait after activation before considering temp deactivation signal.
-
-# Lookup table for speed limit percent offset depending on speed.
-LIMIT_PERC_OFFSET_V = [0.1, 0.05, 0.038]  # 55, 105, 135 km/h
-LIMIT_PERC_OFFSET_BP = [13.9, 27.8, 36.1]  # 50, 100, 130 km/h
-
-# Constants for Limit controllers.
-LIMIT_ADAPT_ACC = -1.  # m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits.
-LIMIT_MIN_ACC = -1.5  # m/s^2 Maximum deceleration allowed for limit controllers to provide.
-LIMIT_MAX_ACC = 1.0   # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
-LIMIT_MIN_SPEED = 8.33  # m/s, Minimum speed limit to provide as solution on limit controllers.
-LIMIT_SPEED_OFFSET_TH = -1.  # m/s Maximum offset between speed limit and current speed for adapting state.
-LIMIT_MAX_MAP_DATA_AGE = 10.  # s Maximum time to hold to map data, then consider it invalid inside limits controllers.
-
-SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/common.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/common.py
deleted file mode 100644
index 4656ee286b..0000000000
--- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/common.py
+++ /dev/null
@@ -1,26 +0,0 @@
-from enum import IntEnum
-
-
-class Source(IntEnum):
-  none = 0
-  car_state = 1
-  map_data = 2
-
-
-class Policy(IntEnum):
-  map_data_only = 0
-  car_state_only = 1
-  map_data_priority = 2
-  car_state_priority = 3
-  combined = 4
-
-
-class Engage(IntEnum):
-  auto = 0
-  user_confirm = 1
-
-
-class OffsetType(IntEnum):
-  default = 0
-  fixed = 1
-  percentage = 2
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/helpers.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/helpers.py
deleted file mode 100644
index b15c63bf05..0000000000
--- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/helpers.py
+++ /dev/null
@@ -1,19 +0,0 @@
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import DEBUG, SpeedLimitControlState
-from openpilot.common.swaglog import cloudlog
-
-
-def debug(msg):
-  if not DEBUG:
-    return
-  cloudlog.debug(msg)
-
-
-def description_for_state(speed_limit_control_state):
-  if speed_limit_control_state == SpeedLimitControlState.inactive:
-    return 'INACTIVE'
-  if speed_limit_control_state == SpeedLimitControlState.tempInactive:
-    return 'TEMP_INACTIVE'
-  if speed_limit_control_state == SpeedLimitControlState.adapting:
-    return 'ADAPTING'
-  if speed_limit_control_state == SpeedLimitControlState.active:
-    return 'ACTIVE'
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py
deleted file mode 100644
index 9a28611259..0000000000
--- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py
+++ /dev/null
@@ -1,344 +0,0 @@
-from collections.abc import Callable
-import numpy as np
-import time
-
-from cereal import messaging, custom
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.params import Params
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V, \
-  PARAMS_UPDATE_PERIOD, TEMP_INACTIVE_GUARD_PERIOD, LIMIT_SPEED_OFFSET_TH, SpeedLimitControlState
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy, Engage, OffsetType
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.helpers import description_for_state, debug
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
-from openpilot.selfdrive.modeld.constants import ModelConstants
-
-EventNameSP = custom.OnroadEventSP.EventName
-
-ACTIVE_STATES = (SpeedLimitControlState.active, SpeedLimitControlState.adapting)
-ENABLED_STATES = (SpeedLimitControlState.preActive, SpeedLimitControlState.tempInactive, *ACTIVE_STATES)
-
-
-class SpeedLimitController:
-  _speed_limit: float
-  _distance: float
-  _source: Source
-  _v_ego: float
-  _a_ego: float
-  _v_offset: float
-
-  def __init__(self, CP):
-    self._params = Params()
-    self._CP = CP
-    self._policy = self._read_policy_param()
-    self._resolver = SpeedLimitResolver(self._policy)
-    self._last_params_update = 0.0
-    self._last_op_engaged_time = 0.0
-    self._is_metric = self._params.get_bool("IsMetric")
-    self._is_enabled = self._params.get_bool("SpeedLimitControl")
-    self._op_engaged = False
-    self._op_engaged_prev = False
-    self._v_ego = 0.
-    self._a_ego = 0.
-    self._v_offset = 0.
-    self._v_cruise_setpoint = 0.
-    self._v_cruise_setpoint_prev = 0.
-    self._v_cruise_setpoint_changed = False
-    self._speed_limit = 0.
-    self._speed_limit_prev = 0.
-    self._speed_limit_changed = False
-    self._distance = 0.
-    self._source = Source.none
-    self._state = SpeedLimitControlState.inactive
-    self._state_prev = SpeedLimitControlState.inactive
-    self._gas_pressed = False
-    self._pcm_cruise_op_long = CP.openpilotLongitudinalControl and CP.pcmCruise
-
-    self._offset_type = OffsetType(self._read_int_param("SpeedLimitOffsetType"))
-    self._offset_value = self._read_int_param("SpeedLimitValueOffset")
-    self._warning_type = self._read_int_param("SpeedLimitWarningType")
-    self._warning_offset_type = OffsetType(self._read_int_param("SpeedLimitWarningOffsetType"))
-    self._warning_offset_value = self._read_int_param("SpeedLimitWarningValueOffset")
-    self._engage_type = self._read_engage_type_param()
-    self._current_time = 0.
-    self._v_cruise_rounded = 0.
-    self._v_cruise_prev_rounded = 0.
-    self._speed_limit_offsetted_rounded = 0.
-    self._speed_limit_warning_offsetted_rounded = 0.
-    self._speed_factor = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH
-
-    # Mapping functions to state transitions
-    self.state_transition_strategy = {
-      # Transition functions for each state
-      SpeedLimitControlState.inactive: self.transition_state_from_inactive,
-      SpeedLimitControlState.tempInactive: self.transition_state_from_temp_inactive,
-      SpeedLimitControlState.adapting: self.transition_state_from_adapting,
-      SpeedLimitControlState.active: self.transition_state_from_active,
-      SpeedLimitControlState.preActive: self.transition_state_from_pre_active,
-    }
-
-    # FIXME-SP: unused?
-    # Solution functions mapped to respective states
-    self.acceleration_solutions = {
-      # Solution functions for each state
-      SpeedLimitControlState.tempInactive: self.get_current_acceleration_as_target,
-      SpeedLimitControlState.inactive: self.get_current_acceleration_as_target,
-      SpeedLimitControlState.adapting: self.get_adapting_state_target_acceleration,
-      SpeedLimitControlState.active: self.get_active_state_target_acceleration,
-      SpeedLimitControlState.preActive: self.get_current_acceleration_as_target,
-    }
-
-  @property
-  def state(self) -> SpeedLimitControlState:
-    return self._state
-
-  @state.setter
-  def state(self, value) -> None:
-    if value != self._state:
-      debug(f'Speed Limit Controller state: {description_for_state(value)}')
-
-      if value == SpeedLimitControlState.tempInactive:
-        # Reset previous speed limit to current value as to prevent going out of tempInactive in
-        # a single cycle when the speed limit changes at the same time the user has temporarily deactivated it.
-        self._speed_limit_prev = self._speed_limit
-
-    self._state = value
-
-  @property
-  def is_enabled(self) -> bool:
-    return self.state in ENABLED_STATES and self._is_enabled
-
-  @property
-  def is_active(self) -> bool:
-    return self.state in ACTIVE_STATES and self._is_enabled
-
-  @property
-  def speed_limit_offseted(self) -> float:
-    return self._speed_limit + self.speed_limit_offset
-
-  @property
-  def speed_limit_offset(self) -> float:
-    return self._get_offset(self._offset_type, self._offset_value)
-
-  @property
-  def speed_limit_warning_offset(self) -> float:
-    return self._get_offset(self._warning_offset_type, self._warning_offset_value)
-
-  @property
-  def speed_limit(self) -> float:
-    return self._speed_limit
-
-  @property
-  def distance(self) -> float:
-    return self._distance
-
-  @property
-  def source(self) -> Source:
-    return self._source
-
-  def _get_offset(self, offset_type: OffsetType, offset_value: int) -> float:
-    if offset_type == OffsetType.default:
-      return float(np.interp(self._speed_limit, LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V) * self._speed_limit)
-    elif offset_type == OffsetType.fixed:
-      return offset_value * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
-    elif offset_type == OffsetType.percentage:
-      return offset_value * 0.01 * self._speed_limit
-    else:
-      raise NotImplementedError("Offset not supported")
-
-  def _update_v_cruise_setpoint_prev(self) -> None:
-    self._v_cruise_setpoint_prev = self._v_cruise_setpoint
-
-  def _update_params(self) -> None:
-    if self._current_time > self._last_params_update + PARAMS_UPDATE_PERIOD:
-      self._is_enabled = self._params.get_bool("SpeedLimitControl")
-      self._offset_type = OffsetType(self._read_int_param("SpeedLimitOffsetType"))
-      self._offset_value = self._read_int_param("SpeedLimitValueOffset")
-      self._warning_type = self._read_int_param("SpeedLimitWarningType")
-      self._warning_offset_type = OffsetType(self._read_int_param("SpeedLimitWarningOffsetType"))
-      self._warning_offset_value = self._read_int_param("SpeedLimitWarningValueOffset")
-      self._policy = self._read_policy_param()
-      self._is_metric = self._params.get_bool("IsMetric")
-      self._speed_factor = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH
-      self._resolver.change_policy(self._policy)
-      self._engage_type = self._read_engage_type_param()
-
-      self._last_params_update = self._current_time
-
-  def _read_policy_param(self) -> Policy:
-    try:
-      return Policy(int(self._params.get("SpeedLimitControlPolicy", encoding='utf8')))
-    except (ValueError, TypeError):
-      return Policy.car_state_priority
-
-  def _read_engage_type_param(self) -> Engage:
-    if self._pcm_cruise_op_long:
-      return Engage.auto
-
-    return Engage(self._read_int_param("SpeedLimitEngageType", validator=lambda x: np.clip(x, Engage.auto, Engage.user_confirm)))
-
-  def _read_int_param(self, key: str, default: int = 0, validator: Callable[[int], int] = None) -> int:
-    try:
-      val = int(self._params.get(key, encoding='utf8'))
-
-      if validator is not None:
-        return validator(val)
-      return val
-    except (ValueError, TypeError):
-      return default
-
-  def _update_calculations(self) -> None:
-    # Update current velocity offset (error)
-    self._v_offset = self.speed_limit_offseted - self._v_ego
-
-    # Track the time op becomes active to prevent going to tempInactive right away after
-    # op enabling since controlsd will change the cruise speed every time on enabling and this will
-    # cause a temp inactive transition if the controller is updated before controlsd sets actual cruise
-    # speed.
-    if not self._op_engaged_prev and self._op_engaged:
-      self._last_op_engaged_time = self._current_time
-
-    # Update change tracking variables
-    self._speed_limit_changed = self._speed_limit != self._speed_limit_prev
-    self._v_cruise_setpoint_changed = self._v_cruise_setpoint != self._v_cruise_setpoint_prev
-    self._speed_limit_prev = self._speed_limit
-    if self._engage_type != Engage.user_confirm:
-      self._update_v_cruise_setpoint_prev()
-    self._op_engaged_prev = self._op_engaged
-
-    self._v_cruise_rounded = int(round(self._v_cruise_setpoint * self._speed_factor))
-    self._v_cruise_prev_rounded = int(round(self._v_cruise_setpoint_prev * self._speed_factor))
-    self._speed_limit_offsetted_rounded = 0 if self._speed_limit == 0 else int(round((self._speed_limit + self.speed_limit_offset) * self._speed_factor))
-    self._speed_limit_warning_offsetted_rounded = 0 if self._speed_limit == 0 else \
-                                                  int(round((self._speed_limit + self.speed_limit_warning_offset) * self._speed_factor))
-
-  def transition_state_from_inactive(self) -> None:
-    """ Make state transition from inactive state """
-    if self._engage_type == Engage.user_confirm:
-      if (((self._last_op_engaged_time + 7.) >= self._current_time >= (self._last_op_engaged_time + 2.)) or
-            self._speed_limit_changed):
-        if self._speed_limit_changed:
-          self._last_op_engaged_time = self._current_time - 2.  # immediately prompt confirmation
-        self.state = SpeedLimitControlState.preActive
-    elif self._engage_type == Engage.auto:
-      if self._v_offset < LIMIT_SPEED_OFFSET_TH:
-        self.state = SpeedLimitControlState.adapting
-      else:
-        self.state = SpeedLimitControlState.active
-
-  def transition_state_from_temp_inactive(self) -> None:
-    """ Make state transition from temporary inactive state """
-    if self._speed_limit_changed:
-      if self._engage_type == Engage.user_confirm:
-        self._last_op_engaged_time = self._current_time - 2.  # immediately prompt confirmation
-        self.state = SpeedLimitControlState.preActive
-      elif self._engage_type == Engage.auto:
-        self.state = SpeedLimitControlState.inactive
-
-  def transition_state_from_pre_active(self) -> None:
-    """ Make state transition from preActive state """
-    if self._current_time >= (self._last_op_engaged_time + 7.):
-      self.state = SpeedLimitControlState.inactive
-    elif (self._last_op_engaged_time + 7.) > self._current_time > (self._last_op_engaged_time + 2.):
-      if self._speed_limit_changed:
-        self._last_op_engaged_time = self._current_time - 2.  # immediately prompt confirmation
-      elif self._v_cruise_prev_rounded < self._speed_limit_offsetted_rounded:
-        if self._v_cruise_setpoint > self._v_cruise_setpoint_prev:
-          self.state = SpeedLimitControlState.active
-      elif self._v_cruise_prev_rounded > self._speed_limit_offsetted_rounded:
-        if self._v_cruise_setpoint < self._v_cruise_setpoint_prev:
-          self.state = SpeedLimitControlState.active
-      elif self._v_cruise_prev_rounded == self._speed_limit_offsetted_rounded:
-        self.state = SpeedLimitControlState.active
-
-  def transition_state_from_adapting(self) -> None:
-    """ Make state transition from adapting state """
-    if self._v_offset >= LIMIT_SPEED_OFFSET_TH:
-      self.state = SpeedLimitControlState.active
-
-  def transition_state_from_active(self) -> None:
-    """ Make state transition from active state """
-    if self._engage_type == Engage.user_confirm:
-      if self._state_prev == SpeedLimitControlState.active:
-        if self._v_cruise_setpoint_changed and self._v_cruise_rounded != self._speed_limit_offsetted_rounded:
-          self.state = SpeedLimitControlState.tempInactive
-        elif self._speed_limit_changed:
-          self._last_op_engaged_time = self._current_time - 2.  # immediately prompt confirmation
-          self.state = SpeedLimitControlState.preActive
-    elif self._engage_type == Engage.auto:
-      if self._v_offset < LIMIT_SPEED_OFFSET_TH:
-        self.state = SpeedLimitControlState.adapting
-
-  def _state_transition(self) -> None:
-    self._state_prev = self._state
-
-    # In any case, if op is disabled, or speed limit control is disabled
-    # or the reported speed limit is 0 or gas is pressed, deactivate.
-    if not self._op_engaged or not self._is_enabled or self._speed_limit == 0:
-      self.state = SpeedLimitControlState.inactive
-      return
-
-    # In any case, we deactivate the speed limit controller temporarily if the user changes the cruise speed.
-    # Ignore if a minimum amount of time has not passed since activation. This is to prevent temp inactivations
-    # due to controlsd logic changing cruise setpoint when going active.
-    if self._engage_type == Engage.auto and self._v_cruise_setpoint_changed and \
-          self._current_time > (self._last_op_engaged_time + TEMP_INACTIVE_GUARD_PERIOD):
-      self.state = SpeedLimitControlState.tempInactive
-      return
-
-    self.state_transition_strategy[self.state]()
-
-    if self._engage_type == Engage.user_confirm:
-      self._update_v_cruise_setpoint_prev()
-
-  def get_current_acceleration_as_target(self) -> float:
-    """ When state is inactive or tempInactive, preserve current acceleration """
-    return self._a_ego
-
-  def get_adapting_state_target_acceleration(self) -> float:
-    """ In adapting state, calculate target acceleration based on speed limit and current velocity """
-    if self.distance > 0:
-      return (self.speed_limit_offseted ** 2 - self._v_ego ** 2) / (2. * self.distance)
-
-    return self._v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
-
-  def get_active_state_target_acceleration(self) -> float:
-    """ In active state, aim to keep speed constant around control time horizon """
-    return self._v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
-
-  def _update_events(self, events_sp: EventsSP) -> None:
-    if self._speed_limit > 0 and self._warning_type == 2 and \
-          self._speed_limit_warning_offsetted_rounded < int(round(self._v_ego * self._speed_factor)):
-      events_sp.add(EventNameSP.speedLimitPreActive)
-
-    if not self.is_active:
-      if self._state == SpeedLimitControlState.preActive and self._state_prev != SpeedLimitControlState.preActive and \
-            self._v_cruise_rounded != self._speed_limit_offsetted_rounded:
-        events_sp.add(EventNameSP.speedLimitPreActive)
-    else:
-      if self._engage_type == Engage.user_confirm:
-        if self._state_prev == SpeedLimitControlState.preActive:
-          events_sp.add(EventNameSP.speedLimitConfirmed)
-          events_sp.add(EventNameSP.speedLimitActive)
-      elif self._engage_type == Engage.auto:
-        if self._state_prev not in ACTIVE_STATES:
-          events_sp.add(EventNameSP.speedLimitActive)
-        elif self._speed_limit_changed != 0:
-          events_sp.add(EventNameSP.speedLimitValueChange)
-
-  def update(self, enabled: bool, v_ego: float, a_ego: float, sm: messaging.SubMaster, v_cruise_setpoint: float, events_sp: EventsSP) -> None:
-    _car_state = sm['carState']
-    self._op_engaged = enabled and self._CP.openpilotLongitudinalControl
-    self._v_ego = v_ego
-    self._a_ego = a_ego
-    self._v_cruise_setpoint = v_cruise_setpoint
-    self._gas_pressed = _car_state.gasPressed
-    self._current_time = time.monotonic()
-
-    self._speed_limit, self._distance, self._source = self._resolver.resolve(v_ego, self.speed_limit, sm)
-
-    self._update_params()
-    self._update_calculations()
-    self._state_transition()
-    self._update_events(events_sp)
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py
deleted file mode 100644
index cae5f2ea9c..0000000000
--- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py
+++ /dev/null
@@ -1,125 +0,0 @@
-import time
-import numpy as np
-
-from cereal import messaging, custom
-
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.helpers import debug
-
-
-class SpeedLimitResolver:
-  _sm: messaging.SubMaster
-  _limit_solutions: dict[Source, float]  # Store for speed limit solutions from different sources
-  _distance_solutions: dict[Source, float]  # Store for distance to current speed limit start for different sources
-  _v_ego: float
-  _current_speed_limit: float
-
-  def __init__(self, policy: Policy):
-    self._limit_solutions = {}
-    self._distance_solutions = {}
-
-    self._policy = policy
-    self._policy_to_sources_map = {
-      Policy.car_state_only: [Source.car_state],
-      Policy.car_state_priority: [Source.car_state, Source.map_data],
-      Policy.map_data_priority: [Source.map_data, Source.car_state],
-      Policy.map_data_only: [Source.map_data],
-      Policy.combined: [Source.car_state, Source.map_data],
-    }
-    for source in Source:
-      self._reset_limit_sources(source)
-
-  def change_policy(self, policy: Policy) -> None:
-    self._policy = policy
-
-  def _reset_limit_sources(self, source: Source) -> None:
-    self._limit_solutions[source] = 0.
-    self._distance_solutions[source] = 0.
-
-  def _is_sock_updated(self, sock: str) -> bool:
-    return self._sm.alive[sock] and self._sm.updated[sock]
-
-  def resolve(self, v_ego: float, current_speed_limit: float, sm: messaging.SubMaster) -> tuple[float, float, Source]:
-    self._v_ego = v_ego
-    self._current_speed_limit = current_speed_limit
-    self._sm = sm
-
-    self._resolve_limit_sources()
-    return self._consolidate()
-
-  def _resolve_limit_sources(self) -> None:
-    """Get limit solutions from each data source"""
-    self._get_from_car_state()
-    self._get_from_map_data()
-
-  def _get_from_car_state(self) -> None:
-    if not self._is_sock_updated('carStateSP'):
-      debug('SL: No carStateSP instruction for speed limit')
-      return
-
-    self._reset_limit_sources(Source.car_state)
-    self._limit_solutions[Source.car_state] = self._sm['carStateSP'].speedLimit
-    self._distance_solutions[Source.car_state] = 0.
-
-  def _get_from_map_data(self) -> None:
-    if not self._is_sock_updated("liveMapDataSP"):
-      debug('SL: No map data for speed limit')
-      return
-
-    # Load limits from map_data
-    self._reset_limit_sources(Source.map_data)
-    self._process_map_data(self._sm["liveMapDataSP"])
-
-  def _process_map_data(self, map_data: custom.LiveMapDataSP) -> None:
-    gps_fix_age = time.time() - map_data.lastGpsTimestamp * 1e-3
-    if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE:
-      debug(f'SL: Ignoring map data as is too old. Age: {gps_fix_age}')
-      return
-
-    speed_limit = map_data.speedLimit if map_data.speedLimitValid else 0.
-    next_speed_limit = map_data.speedLimitAhead if map_data.speedLimitAheadValid else 0.
-
-    self._calculate_map_data_limits(speed_limit, next_speed_limit, map_data)
-
-  def _calculate_map_data_limits(self, speed_limit: float, next_speed_limit: float, map_data: custom.LiveMapDataSP) -> None:
-    distance_since_fix = self._v_ego * (time.time() - map_data.lastGpsTimestamp * 1e-3)
-    distance_to_speed_limit_ahead = max(0., map_data.speedLimitAheadDistance - distance_since_fix)
-
-    self._limit_solutions[Source.map_data] = speed_limit
-    self._distance_solutions[Source.map_data] = 0.
-
-    if 0. < next_speed_limit < self._v_ego:
-      adapt_time = (next_speed_limit - self._v_ego) / LIMIT_ADAPT_ACC
-      adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2
-
-      if distance_to_speed_limit_ahead <= adapt_distance:
-        self._limit_solutions[Source.map_data] = next_speed_limit
-        self._distance_solutions[Source.map_data] = distance_to_speed_limit_ahead
-
-  def _consolidate(self) -> tuple[float, float, Source]:
-    source = self._get_source_solution_according_to_policy()
-    self.speed_limit = self._limit_solutions[source] if source else 0.
-    self.distance = self._distance_solutions[source] if source else 0.
-    self.source = source or Source.none
-
-    debug(f'SL: *** Speed Limit set: {self.speed_limit}, distance: {self.distance}, source: {self.source}')
-    return self.speed_limit, self.distance, self.source
-
-  def _get_source_solution_according_to_policy(self) -> Source | None:
-    sources_for_policy = self._policy_to_sources_map[self._policy]
-
-    if self._policy != Policy.combined:
-      # They are ordered in the order of preference, so we pick the first that's non zero
-      for source in sources_for_policy:
-        if self._limit_solutions[source] > 0.:
-          return Source(source)
-
-    limits = np.array([self._limit_solutions[source] for source in sources_for_policy], dtype=float)
-    sources = np.array([source.value for source in sources_for_policy], dtype=int)
-
-    if len(limits) > 0:
-      min_idx = np.argmin(limits)
-      return Source(sources[min_idx])
-
-    return None
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/state.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/state.py
deleted file mode 100644
index 972f70d326..0000000000
--- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/state.py
+++ /dev/null
@@ -1,78 +0,0 @@
-"""
-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.
-"""
-from cereal import custom
-from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
-
-EventNameSP = custom.OnroadEventSP.EventName
-State = custom.LongitudinalPlanSP.SpeedLimitControlState
-
-ACTIVE_STATES = (State.active, State.adapting)
-ENABLED_STATES = (State.preActive, State.tempInactive, *ACTIVE_STATES)
-
-
-class StateMachine:
-  def __init__(self):
-    self.state = State.inactive
-
-  def update(self, events_sp: EventsSP) -> tuple[bool, bool]:
-    # INACTIVE
-    if self.state == State.inactive:
-      if events_sp.has(EventNameSP.speedLimitEnable):
-        self.state = State.preActive
-      elif events_sp.has(EventNameSP.speedLimitAdapting):
-        self.state = State.adapting
-      elif events_sp.has(EventNameSP.speedLimitActive):
-        self.state = State.active
-
-    # PRE ACTIVE
-    elif self.state == State.preActive:
-      if events_sp.has(EventNameSP.speedLimitDisable):
-        self.state = State.inactive
-      elif events_sp.has(EventNameSP.speedLimitUserCancel):
-        self.state = State.inactive
-      elif events_sp.has(EventNameSP.speedLimitUserConfirm):
-        self.state = State.active
-      elif events_sp.has(EventNameSP.speedLimitActive):
-        self.state = State.active
-
-    # ACTIVE
-    elif self.state == State.active:
-      if events_sp.has(EventNameSP.speedLimitDisable):
-        self.state = State.inactive
-      elif events_sp.has(EventNameSP.speedLimitUserCancel):
-        self.state = State.tempInactive
-      elif events_sp.has(EventNameSP.speedLimitAdapting):
-        self.state = State.adapting
-      elif events_sp.has(EventNameSP.speedLimitValueChange):
-        # For user confirm mode, transition to preActive on speed limit change
-        if events_sp.has(EventNameSP.speedLimitEnable):
-          self.state = State.preActive
-
-    # ADAPTING
-    elif self.state == State.adapting:
-      if events_sp.has(EventNameSP.speedLimitDisable):
-        self.state = State.inactive
-      elif events_sp.has(EventNameSP.speedLimitUserCancel):
-        self.state = State.tempInactive
-      elif events_sp.has(EventNameSP.speedLimitReached):
-        self.state = State.active
-
-    # TEMP INACTIVE
-    elif self.state == State.tempInactive:
-      if events_sp.has(EventNameSP.speedLimitDisable):
-        self.state = State.inactive
-      elif events_sp.has(EventNameSP.speedLimitValueChange):
-        # When speed limit changes, reactivate
-        if events_sp.has(EventNameSP.speedLimitEnable):
-          self.state = State.preActive
-        else:
-          self.state = State.inactive
-
-    enabled = self.state in ENABLED_STATES
-    active = self.state in ACTIVE_STATES
-
-    return enabled, active
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/__init__.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_resolver.py b/sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_resolver.py
deleted file mode 100644
index 0ae8dff8fc..0000000000
--- a/sunnypilot/selfdrive/controls/lib/speed_limit_controller/tests/test_speed_limit_resolver.py
+++ /dev/null
@@ -1,128 +0,0 @@
-import random
-import time
-
-import pytest
-from pytest_mock import MockerFixture
-
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_MAX_MAP_DATA_AGE
-
-# from selfdrive.controls.lib.speed_limit_controller_tbd import SpeedLimitResolver as OriginalSpeedLimitResolver
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver as RefactoredSpeedLimitResolver
-from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy
-
-
-def create_mock(properties, mocker: MockerFixture):
-  mock = mocker.MagicMock()
-  for _property, value in properties.items():
-    setattr(mock, _property, value)
-  return mock
-
-
-def setup_sm_mock(mocker: MockerFixture):
-  cruise_speed_limit = random.uniform(0, 120)
-  live_map_data_limit = random.uniform(0, 120)
-
-  car_state = create_mock({
-    'gasPressed': False,
-    'brakePressed': False,
-    'standstill': False,
-  }, mocker)
-  car_state_sp = create_mock({
-    'speedLimit': cruise_speed_limit,
-  }, mocker)
-  live_map_data = create_mock({
-    'speedLimit': live_map_data_limit,
-    'speedLimitValid': True,
-    'speedLimitAhead': 0.,
-    'speedLimitAheadValid': 0.,
-    'speedLimitAheadDistance': 0.,
-    'lastGpsTimestamp': time.time() * 1e3,
-  }, mocker)
-  sm_mock = mocker.MagicMock()
-  sm_mock.__getitem__.side_effect = lambda key: {
-    'carState': car_state,
-    'liveMapDataSP': live_map_data,
-    'carStateSP': car_state_sp,
-  }[key]
-  return sm_mock
-
-
-parametrized_policies = pytest.mark.parametrize(
-  "policy, sm_key, function_key", [
-    (Policy.car_state_only, 'carStateSP', 'car_state'),
-    (Policy.car_state_priority, 'carStateSP', 'car_state'),
-    (Policy.map_data_only, 'liveMapDataSP', 'map_data'),
-    (Policy.map_data_priority, 'liveMapDataSP', 'map_data'),
-  ],
-  ids=lambda val: val.name if hasattr(val, 'name') else str(val)
-)
-
-
-@pytest.mark.parametrize("resolver_class", [RefactoredSpeedLimitResolver], ids=["Refactored"])
-class TestSpeedLimitResolverValidation:
-
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
-  def test_initial_state(self, resolver_class, policy):
-    resolver = resolver_class(policy)
-    for source in Source:
-      if source in resolver._limit_solutions:
-        assert resolver._limit_solutions[source] == 0.
-        assert resolver._distance_solutions[source] == 0.
-
-  @parametrized_policies
-  def test_resolver(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
-    resolver = resolver_class(policy)
-    sm_mock = setup_sm_mock(mocker)
-    source_speed_limit = sm_mock[sm_key].speedLimit
-
-    # Assert the resolver
-    speed_limit, _, source = resolver.resolve(source_speed_limit, 0, sm_mock)
-    assert speed_limit == source_speed_limit
-    assert source == Source[function_key]
-
-  def test_resolver_combined(self, resolver_class, mocker: MockerFixture):
-    resolver = resolver_class(Policy.combined)
-    sm_mock = setup_sm_mock(mocker)
-    socket_to_source = {'carStateSP': Source.car_state, 'liveMapDataSP': Source.map_data}
-    minimum_key, minimum_speed_limit = min(
-      ((key, sm_mock[key].speedLimit) for key in
-       socket_to_source.keys()), key=lambda x: x[1])
-
-    # Assert the resolver
-    speed_limit, _, source = resolver.resolve(minimum_speed_limit, 0, sm_mock)
-    assert speed_limit == minimum_speed_limit
-    assert source == socket_to_source[minimum_key]
-
-  @parametrized_policies
-  def test_parser(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
-    resolver = resolver_class(policy)
-    sm_mock = setup_sm_mock(mocker)
-    source_speed_limit = sm_mock[sm_key].speedLimit
-
-    # Assert the parsing
-    speed_limit, _, source = resolver.resolve(source_speed_limit, 0, sm_mock)
-    assert resolver._limit_solutions[Source[function_key]] == source_speed_limit
-    assert resolver._distance_solutions[Source[function_key]] == 0.
-
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
-  def test_resolve_interaction_in_update(self, resolver_class, policy, mocker: MockerFixture):
-    v_ego = 50
-    resolver = resolver_class(policy)
-
-    sm_mock = setup_sm_mock(mocker)
-    _speed_limit, _distance, _source = resolver.resolve(v_ego, 0, sm_mock)
-
-    # After resolution
-    assert _speed_limit is not None
-    assert _distance is not None
-    assert _source is not None
-
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
-  def test_old_map_data_ignored(self, resolver_class, policy, mocker: MockerFixture):
-    resolver = resolver_class(policy)
-    sm_mock = mocker.MagicMock()
-    sm_mock['liveMapDataSP'].lastGpsTimestamp = (time.time() - 2 * LIMIT_MAX_MAP_DATA_AGE) * 1e3
-    resolver._sm = sm_mock
-    resolver._get_from_map_data()
-    assert resolver._limit_solutions[Source.map_data] == 0.
-    assert resolver._distance_solutions[Source.map_data] == 0.
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index 5b76e035be..d81345a14e 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -1,6 +1,4 @@
-import cereal.messaging as messaging
 from cereal import log, car, custom
-from openpilot.common.conversions import Conversions as CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
 
@@ -16,17 +14,6 @@ EventNameSP = custom.OnroadEventSP.EventName
 EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
 
 
-def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  speedLimit = sm['longitudinalPlanSP'].slc.speedLimit
-  speed = round(speedLimit * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
-  message = f'Adjusting to {speed} {"km/h" if metric else "mph"} speed limit'
-  return Alert(
-    message,
-    "",
-    AlertStatus.normal, AlertSize.small,
-    Priority.LOW, VisualAlert.none, AudibleAlert.none, 4.)
-
-
 class EventsSP(EventsBase):
   def __init__(self):
     super().__init__()
@@ -145,34 +132,6 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventNameSP.pedalPressedAlertOnly: {
     ET.WARNING: NoEntryAlert("Pedal Pressed")
-  },
-
-  EventNameSP.speedLimitPreActive: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.MID, VisualAlert.none, AudibleAlert.none, .45),  # TODO-SP: AudibleAlert.promptSingleLow
-  },
-
-  EventNameSP.speedLimitActive: {
-    ET.WARNING: Alert(
-      "Set speed changed to match posted speed limit",
-      "",
-      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 3.),
-  },
-
-  EventNameSP.speedLimitConfirmed: {
-    ET.WARNING: Alert(
-      "",
-      "",
-      AlertStatus.normal, AlertSize.none,
-      Priority.MID, VisualAlert.none, AudibleAlert.none, .45),  # TODO-SP: AudibleAlert.promptSingleHigh
-  },
-
-  EventNameSP.speedLimitValueChange: {
-    ET.WARNING: speed_limit_adjust_alert,
-  },
+  }
 
 }
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 7c53483714..cdad098d2d 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -63,15 +63,6 @@ def manager_init() -> None:
     ("ModelManager_ModelsCache", ""),
     ("NeuralNetworkLateralControl", "0"),
     ("QuietMode", "0"),
-
-    ("SpeedLimitControl", "0"),
-    ("SpeedLimitControlPolicy", "3"),
-    ("SpeedLimitEngageType", "0"),
-    ("SpeedLimitOffsetType", "0"),
-    ("SpeedLimitValueOffset", "0"),
-    ("SpeedLimitWarningType", "0"),
-    ("SpeedLimitWarningOffsetType", "0"),
-    ("SpeedLimitWarningValueOffset", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):