From 42ccc5cebd83cd2efd2f7d009fe923141b0cf39a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 13 Oct 2026 09:55:11 -0700 Subject: [PATCH] Remove experimental mode initial cruise speed override (#39077) --- openpilot/selfdrive/car/cruise.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/openpilot/selfdrive/car/cruise.py b/openpilot/selfdrive/car/cruise.py index 5e2f9db306..fd6ccf9518 100644 --- a/openpilot/selfdrive/car/cruise.py +++ b/openpilot/selfdrive/car/cruise.py @@ -12,7 +12,6 @@ V_CRUISE_MIN = 8 V_CRUISE_MAX = 145 V_CRUISE_UNSET = 255 V_CRUISE_INITIAL = 40 -V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105 IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1) # round here to avoid rounding errors incrementing set speed ButtonEvent = car.CarState.ButtonEvent @@ -128,11 +127,9 @@ class VCruiseHelper: if self.CP.pcmCruise: return - initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL - if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized: self.v_cruise_kph = self.v_cruise_kph_last else: - self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX))) + self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_INITIAL, V_CRUISE_MAX))) self.v_cruise_cluster_kph = self.v_cruise_kph