diff --git a/release/files_common b/release/files_common
index 9c03528164..258b41868d 100644
--- a/release/files_common
+++ b/release/files_common
@@ -209,10 +209,14 @@ selfdrive/controls/lib/lateral_planner.py
 selfdrive/controls/lib/longcontrol.py
 selfdrive/controls/lib/longitudinal_planner.py
 selfdrive/controls/lib/pid.py
-selfdrive/controls/lib/speed_limit_controller.py
 selfdrive/controls/lib/turn_speed_controller.py
 selfdrive/controls/lib/vehicle_model.py
 selfdrive/controls/lib/vision_turn_controller.py
+selfdrive/controls/lib/sunnypilot/__init__.py
+selfdrive/controls/lib/sunnypilot/common.py
+selfdrive/controls/lib/sunnypilot/helpers.py
+selfdrive/controls/lib/sunnypilot/speed_limit_controller.py
+selfdrive/controls/lib/sunnypilot/speed_limit_resolver.py
 
 selfdrive/controls/lib/lateral_mpc_lib/.gitignore
 selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index be2e6221ac..f8b496dc3d 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -9,14 +9,17 @@ import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.lib.sunnypilot.common import Source
+from openpilot.selfdrive.controls.lib.sunnypilot.speed_limit_controller import SpeedLimitController
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.controls.lib.sunnypilot.common import Source
+from openpilot.selfdrive.controls.lib.sunnypilot.speed_limit_controller import SpeedLimitController
 from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error
 from openpilot.selfdrive.controls.lib.vision_turn_controller import VisionTurnController
-from openpilot.selfdrive.controls.lib.speed_limit_controller import SpeedLimitController, SpeedLimitResolver
 from openpilot.selfdrive.controls.lib.turn_speed_controller import TurnSpeedController
 from openpilot.selfdrive.controls.lib.dynamic_experimental_controller import DynamicExperimentalController
 from openpilot.selfdrive.controls.lib.events import Events
@@ -225,7 +228,7 @@ class LongitudinalPlanner:
     longitudinalPlanSP.speedLimit = float(self.speed_limit_controller.speed_limit)
     longitudinalPlanSP.speedLimitOffset = float(self.speed_limit_controller.speed_limit_offset)
     longitudinalPlanSP.distToSpeedLimit = float(self.speed_limit_controller.distance)
-    longitudinalPlanSP.isMapSpeedLimit = bool(self.speed_limit_controller.source not in (SpeedLimitResolver.Source.none, SpeedLimitResolver.Source.nav))
+    longitudinalPlanSP.isMapSpeedLimit = bool(self.speed_limit_controller.source not in (Source.none, Source.nav))
     longitudinalPlanSP.events = self.events.to_msg()
 
     longitudinalPlanSP.turnSpeedControlState = self.turn_speed_controller.state
diff --git a/selfdrive/controls/lib/speed_limit_controller.py b/selfdrive/controls/lib/speed_limit_controller.py
deleted file mode 100644
index 8d1c0a3677..0000000000
--- a/selfdrive/controls/lib/speed_limit_controller.py
+++ /dev/null
@@ -1,428 +0,0 @@
-import numpy as np
-import time
-from common.numpy_fast import interp
-from enum import IntEnum
-from cereal import custom, car
-from common.conversions import Conversions as CV
-from common.params import Params
-from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_ACC, LIMIT_MAX_ACC, LIMIT_SPEED_OFFSET_TH, \
-  LIMIT_MAX_MAP_DATA_AGE, CONTROL_N
-from selfdrive.controls.lib.events import Events, ET
-from openpilot.selfdrive.modeld.constants import ModelConstants
-
-
-_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
-
-SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState
-EventName = car.CarEvent.EventName
-
-_DEBUG = False
-
-
-def _debug(msg):
-  if not _DEBUG:
-    return
-  print(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'
-
-
-class SpeedLimitResolver():
-  class Source(IntEnum):
-    none = 0
-    car_state = 1
-    map_data = 2
-    nav = 3
-
-  class Policy(IntEnum):
-    car_state_only = 0
-    map_data_only = 1
-    car_state_priority = 2
-    map_data_priority = 3
-    combined = 4
-    nav_only = 5
-    nav_priority = 6
-
-  def __init__(self, policy=Policy.nav_priority):
-    self._limit_solutions = {}  # Store for speed limit solutions from different sources
-    self._distance_solutions = {}  # Store for distance to current speed limit start for different sources
-    self._v_ego = 0.
-    self._current_speed_limit = 0.
-    self._policy = policy
-    self._next_speed_limit_prev = 0.
-    self.speed_limit = 0.
-    self.distance = 0.
-    self.source = SpeedLimitResolver.Source.none
-
-  def resolve(self, v_ego, current_speed_limit, sm):
-    self._v_ego = v_ego
-    self._current_speed_limit = current_speed_limit
-    self._sm = sm
-
-    self._get_from_car_state()
-    self._get_from_nav()
-    self._get_from_map_data()
-    self._consolidate()
-
-    return self.speed_limit, self.distance, self.source
-
-  def _get_from_car_state(self):
-    self._limit_solutions[SpeedLimitResolver.Source.car_state] = self._sm['carState'].cruiseState.speedLimit
-    self._distance_solutions[SpeedLimitResolver.Source.car_state] = 0.
-
-  def _get_from_nav(self):
-    # Ignore if nav instruction is not alive
-    if not self._sm.alive['navInstruction']:
-      self._limit_solutions[SpeedLimitResolver.Source.nav] = 0.
-      self._distance_solutions[SpeedLimitResolver.Source.nav] = 0.
-      _debug('SL: No nav instruction for speed limit')
-      return
-
-    # Load limits from nav instruction
-    self._limit_solutions[SpeedLimitResolver.Source.nav] = self._sm['navInstruction'].speedLimit
-    self._distance_solutions[SpeedLimitResolver.Source.nav] = 0.
-
-  def _get_from_map_data(self):
-    # Ignore if no live map data
-    sock = 'liveMapDataSP'
-    if self._sm.logMonoTime[sock] is None:
-      self._limit_solutions[SpeedLimitResolver.Source.map_data] = 0.
-      self._distance_solutions[SpeedLimitResolver.Source.map_data] = 0.
-      _debug('SL: No map data for speed limit')
-      return
-
-    # Load limits from map_data
-    map_data = self._sm[sock]
-    speed_limit = map_data.speedLimit if map_data.speedLimitValid else 0.
-    next_speed_limit = map_data.speedLimitAhead if map_data.speedLimitAheadValid else 0.
-
-    # Calculate the age of the gps fix. Ignore if too old.
-    gps_fix_age = time.time() - map_data.lastGpsTimestamp * 1e-3
-    if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE:
-      self._limit_solutions[SpeedLimitResolver.Source.map_data] = 0.
-      self._distance_solutions[SpeedLimitResolver.Source.map_data] = 0.
-      _debug(f'SL: Ignoring map data as is too old. Age: {gps_fix_age}')
-      return
-
-    # When we have no ahead speed limit to consider or it is greater than current speed limit
-    # or car has stopped, then provide current value and reset tracking.
-    if next_speed_limit == 0. or self._v_ego <= 0. or next_speed_limit > self._current_speed_limit:
-      self._limit_solutions[SpeedLimitResolver.Source.map_data] = speed_limit
-      self._distance_solutions[SpeedLimitResolver.Source.map_data] = 0.
-      self._next_speed_limit_prev = 0.
-      return
-
-    # Calculate the actual distance to the speed limit ahead corrected by gps_fix_age
-    distance_since_fix = self._v_ego * gps_fix_age
-    distance_to_speed_limit_ahead = max(0., map_data.speedLimitAheadDistance - distance_since_fix)
-
-    # When we have a next_speed_limit value that has not changed from a provided next speed limit value
-    # in previous resolutions, we keep providing it.
-    if next_speed_limit == self._next_speed_limit_prev:
-      self._limit_solutions[SpeedLimitResolver.Source.map_data] = next_speed_limit
-      self._distance_solutions[SpeedLimitResolver.Source.map_data] = distance_to_speed_limit_ahead
-      return
-
-    # Reset tracking
-    self._next_speed_limit_prev = 0.
-
-    # Calculated the time needed to adapt to the new limit and the corresponding distance.
-    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
-
-    # When we detect we are close enough, we provide the next limit value and track it.
-    if distance_to_speed_limit_ahead <= adapt_distance:
-      self._limit_solutions[SpeedLimitResolver.Source.map_data] = next_speed_limit
-      self._distance_solutions[SpeedLimitResolver.Source.map_data] = distance_to_speed_limit_ahead
-      self._next_speed_limit_prev = next_speed_limit
-      return
-
-    # Otherwise we just provide the map data speed limit.
-    self.distance_to_map_speed_limit = 0.
-    self._limit_solutions[SpeedLimitResolver.Source.map_data] = speed_limit
-    self._distance_solutions[SpeedLimitResolver.Source.map_data] = 0.
-
-  def _consolidate(self):
-    limits = np.array([], dtype=float)
-    distances = np.array([], dtype=float)
-    sources = np.array([], dtype=int)
-
-    if self._policy == SpeedLimitResolver.Policy.car_state_only or \
-       self._policy == SpeedLimitResolver.Policy.car_state_priority or \
-       self._policy == SpeedLimitResolver.Policy.combined:
-      limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.car_state])
-      distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.car_state])
-      sources = np.append(sources, SpeedLimitResolver.Source.car_state.value)
-
-    if self._policy == SpeedLimitResolver.Policy.nav_only or \
-       self._policy == SpeedLimitResolver.Policy.nav_priority or \
-       self._policy == SpeedLimitResolver.Policy.combined:
-      limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.nav])
-      distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.nav])
-      sources = np.append(sources, SpeedLimitResolver.Source.nav.value)
-
-    if self._policy == SpeedLimitResolver.Policy.map_data_only or \
-       self._policy == SpeedLimitResolver.Policy.map_data_priority or \
-       self._policy == SpeedLimitResolver.Policy.combined:
-      limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.map_data])
-      distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.map_data])
-      sources = np.append(sources, SpeedLimitResolver.Source.map_data.value)
-
-    if np.amax(limits) == 0.:
-      if self._policy == SpeedLimitResolver.Policy.car_state_priority:
-        limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.map_data])
-        distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.map_data])
-        sources = np.append(sources, SpeedLimitResolver.Source.map_data.value)
-
-      elif self._policy == SpeedLimitResolver.Policy.map_data_priority:
-        limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.car_state])
-        distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.car_state])
-        sources = np.append(sources, SpeedLimitResolver.Source.car_state.value)
-
-      elif self._policy == SpeedLimitResolver.Policy.nav_priority:
-        limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.map_data])
-        distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.map_data])
-        sources = np.append(sources, SpeedLimitResolver.Source.map_data.value)
-
-        if np.amax(limits) == 0.:
-          limits = np.append(limits, self._limit_solutions[SpeedLimitResolver.Source.car_state])
-          distances = np.append(distances, self._distance_solutions[SpeedLimitResolver.Source.car_state])
-          sources = np.append(sources, SpeedLimitResolver.Source.car_state.value)
-
-    # Get all non-zero values and set the minimum if any, otherwise 0.
-    mask = limits > 0.
-    limits = limits[mask]
-    distances = distances[mask]
-    sources = sources[mask]
-
-    if len(limits) > 0:
-      min_idx = np.argmin(limits)
-      self.speed_limit = limits[min_idx]
-      self.distance = distances[min_idx]
-      self.source = SpeedLimitResolver.Source(sources[min_idx])
-    else:
-      self.speed_limit = 0.
-      self.distance = 0.
-      self.source = SpeedLimitResolver.Source.none
-
-    _debug(f'SL: *** Speed Limit set: {self.speed_limit}, distance: {self.distance}, source: {self.source}')
-
-
-class SpeedLimitController():
-  def __init__(self):
-    self._params = Params()
-    self._resolver = SpeedLimitResolver()
-    self._last_params_update = 0.0
-    self._last_op_enabled_time = 0.0
-    self._is_metric = self._params.get_bool("IsMetric")
-    self._is_enabled = self._params.get_bool("SpeedLimitControl")
-    self._offset_enabled = self._params.get_bool("SpeedLimitPercOffset")
-    self._disengage_on_accelerator = self._params.get_bool("DisengageOnAccelerator")
-    self._op_enabled = False
-    self._op_enabled_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 = SpeedLimitResolver.Source.none
-    self._state = SpeedLimitControlState.inactive
-    self._state_prev = SpeedLimitControlState.inactive
-    self._gas_pressed = False
-    self._a_target = 0.
-
-    self._offset_type = int(self._params.get("SpeedLimitOffsetType", encoding='utf8'))
-    self._offset_value = float(self._params.get("SpeedLimitValueOffset", encoding='utf8'))
-    self._brake_pressed = False
-    self._brake_pressed_prev = False
-
-  @property
-  def a_target(self):
-    return self._a_target if self.is_active else self._a_ego
-
-  @property
-  def state(self):
-    return self._state
-
-  @state.setter
-  def state(self, value):
-    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 deactivate it.
-        self._speed_limit_prev = self._speed_limit
-
-    self._state = value
-
-  @property
-  def is_active(self):
-    return self.state > SpeedLimitControlState.tempInactive
-
-  @property
-  def speed_limit_offseted(self):
-    return self._speed_limit + self.speed_limit_offset
-
-  @property
-  def speed_limit_offset(self):
-    if self._offset_enabled:
-      if self._offset_type == 0:
-        return interp(self._speed_limit, _LIMIT_PERC_OFFSET_BP, _LIMIT_PERC_OFFSET_V) * self._speed_limit
-      elif self._offset_type == 1:
-        return self._offset_value * 0.01 * self._speed_limit
-      elif self._offset_type == 2:
-        return self._offset_value * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
-    return 0.
-
-  @property
-  def speed_limit(self):
-    return self._speed_limit
-
-  @property
-  def distance(self):
-    return self._distance
-
-  @property
-  def source(self):
-    return self._source
-
-  def _update_params(self):
-    t = time.monotonic()
-    if t > self._last_params_update + _PARAMS_UPDATE_PERIOD:
-      self._is_enabled = self._params.get_bool("SpeedLimitControl")
-      self._offset_enabled = self._params.get_bool("SpeedLimitPercOffset")
-      self._offset_type = int(self._params.get("SpeedLimitOffsetType", encoding='utf8'))
-      self._offset_value = float(self._params.get("SpeedLimitValueOffset", encoding='utf8'))
-      _debug(f'Updated Speed limit params. enabled: {self._is_enabled}, with offset: {self._offset_enabled}')
-      self._last_params_update = t
-
-  def _update_calculations(self):
-    # 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_enabled_prev and self._op_enabled:
-      self._last_op_enabled_time = time.monotonic()
-
-    # 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
-    self._v_cruise_setpoint_prev = self._v_cruise_setpoint
-    self._op_enabled_prev = self._op_enabled
-    self._brake_pressed_prev = self._brake_pressed
-
-  def _state_transition(self):
-    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_enabled or not self._is_enabled or self._speed_limit == 0 or (self._gas_pressed and self._disengage_on_accelerator):
-      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._v_cruise_setpoint_changed and \
-        time.monotonic() > (self._last_op_enabled_time + _TEMP_INACTIVE_GUARD_PERIOD):
-      self.state = SpeedLimitControlState.tempInactive
-      return
-
-    # inactive
-    if self.state == SpeedLimitControlState.inactive:
-      # If the limit speed offset is negative (i.e. reduce speed) and lower than threshold
-      # we go to adapting state to quickly reduce speed, otherwise we go directly to active
-      if self._v_offset < LIMIT_SPEED_OFFSET_TH:
-        self.state = SpeedLimitControlState.adapting
-      else:
-        self.state = SpeedLimitControlState.active
-    # tempInactive
-    elif self.state == SpeedLimitControlState.tempInactive:
-      # if speed limit changes, transition to inactive,
-      # proper active state will be set on next iteration.
-      if self._speed_limit_changed:
-        self.state = SpeedLimitControlState.inactive
-    # adapting
-    elif self.state == SpeedLimitControlState.adapting:
-      # Go to active once the speed offset is over threshold.
-      if self._v_offset >= LIMIT_SPEED_OFFSET_TH:
-        self.state = SpeedLimitControlState.active
-    # active
-    elif self.state == SpeedLimitControlState.active:
-      # Go to adapting if the speed offset goes below threshold.
-      if self._v_offset < LIMIT_SPEED_OFFSET_TH:
-        self.state = SpeedLimitControlState.adapting
-
-  def _update_solution(self):
-    # inactive or tempInactive state
-    if self.state <= SpeedLimitControlState.tempInactive:
-      # Preserve current values
-      a_target = self._a_ego
-    # adapting
-    elif self.state == SpeedLimitControlState.adapting:
-      # When adapting we target to achieve the speed limit on the distance if not there yet,
-      # otherwise try to keep the speed constant around the control time horizon.
-      if self.distance > 0:
-        a_target = (self.speed_limit_offseted**2 - self._v_ego**2) / (2. * self.distance)
-      else:
-        a_target = self._v_offset / ModelConstants.T_IDXS[CONTROL_N]
-    # active
-    elif self.state == SpeedLimitControlState.active:
-      # When active we are trying to keep the speed constant around the control time horizon.
-      a_target = self._v_offset / ModelConstants.T_IDXS[CONTROL_N]
-
-    # Keep solution limited.
-    self._a_target = np.clip(a_target, LIMIT_MIN_ACC, LIMIT_MAX_ACC)
-
-  def _update_events(self, events):
-    if not self.is_active:
-      # no event while inactive
-      return
-
-    if self._state_prev <= SpeedLimitControlState.tempInactive:
-      events.add(EventName.speedLimitActive)
-    elif self._speed_limit_changed != 0:
-      events.add(EventName.speedLimitValueChange)
-
-  def update(self, enabled, v_ego, a_ego, sm, v_cruise_setpoint, events=Events()):
-    _car_state = sm['carState']
-    self._op_enabled = enabled and sm['controlsState'].enabled and _car_state.cruiseState.enabled and \
-                       not (_car_state.brakePressed and (not self._brake_pressed_prev or not _car_state.standstill)) and \
-                       not events.contains(ET.OVERRIDE_LONGITUDINAL)
-    self._v_ego = v_ego
-    self._a_ego = a_ego
-    self._v_cruise_setpoint = v_cruise_setpoint
-    self._gas_pressed = _car_state.gasPressed
-    self._brake_pressed = _car_state.brakePressed
-
-    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_solution()
-    self._update_events(events)
diff --git a/selfdrive/controls/lib/sunnypilot/__init__.py b/selfdrive/controls/lib/sunnypilot/__init__.py
new file mode 100644
index 0000000000..27aef8996f
--- /dev/null
+++ b/selfdrive/controls/lib/sunnypilot/__init__.py
@@ -0,0 +1,13 @@
+from cereal import custom, car
+
+DEBUG = False
+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
+
+SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState
+EventName = car.CarEvent.EventName
+
diff --git a/selfdrive/controls/lib/sunnypilot/common.py b/selfdrive/controls/lib/sunnypilot/common.py
new file mode 100644
index 0000000000..95090445e0
--- /dev/null
+++ b/selfdrive/controls/lib/sunnypilot/common.py
@@ -0,0 +1,18 @@
+from enum import IntEnum
+
+
+class Source(IntEnum):
+  none = 0
+  car_state = 1
+  map_data = 2
+  nav = 3
+
+
+class Policy(IntEnum):
+  car_state_only = 0
+  map_data_only = 1
+  car_state_priority = 2
+  map_data_priority = 3
+  combined = 4
+  nav_only = 5
+  nav_priority = 6
diff --git a/selfdrive/controls/lib/sunnypilot/helpers.py b/selfdrive/controls/lib/sunnypilot/helpers.py
new file mode 100644
index 0000000000..d7be1bf536
--- /dev/null
+++ b/selfdrive/controls/lib/sunnypilot/helpers.py
@@ -0,0 +1,19 @@
+from openpilot.selfdrive.controls.lib.sunnypilot import DEBUG, SpeedLimitControlState
+from openpilot.system.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/selfdrive/controls/lib/sunnypilot/speed_limit_controller.py b/selfdrive/controls/lib/sunnypilot/speed_limit_controller.py
new file mode 100644
index 0000000000..0b66ec2a2b
--- /dev/null
+++ b/selfdrive/controls/lib/sunnypilot/speed_limit_controller.py
@@ -0,0 +1,235 @@
+import numpy as np
+import time
+from common.numpy_fast import interp
+from common.conversions import Conversions as CV
+from common.params import Params
+from openpilot.selfdrive.controls.lib.sunnypilot import LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V, \
+  PARAMS_UPDATE_PERIOD, TEMP_INACTIVE_GUARD_PERIOD, EventName, SpeedLimitControlState
+
+from openpilot.selfdrive.controls.lib.drive_helpers import LIMIT_MIN_ACC, LIMIT_MAX_ACC, LIMIT_SPEED_OFFSET_TH, \
+  CONTROL_N
+from openpilot.selfdrive.controls.lib.events import Events, ET
+from openpilot.selfdrive.controls.lib.sunnypilot.common import Source, Policy
+from openpilot.selfdrive.controls.lib.sunnypilot.helpers import description_for_state, debug
+from openpilot.selfdrive.controls.lib.sunnypilot.speed_limit_resolver import SpeedLimitResolver
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+
+class SpeedLimitController:
+  def __init__(self):
+    self._params = Params()
+    self._resolver = SpeedLimitResolver()
+    self._last_params_update = 0.0
+    self._last_op_enabled_time = 0.0
+    self._is_metric = self._params.get_bool("IsMetric")
+    self._is_enabled = self._params.get_bool("SpeedLimitControl")
+    self._disengage_on_accelerator = self._params.get_bool("DisengageOnAccelerator")
+    self._op_enabled = False
+    self._op_enabled_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._a_target = 0.
+
+    self._offset_type = int(self._params.get("SpeedLimitOffsetType", encoding='utf8'))
+    self._offset_value = float(self._params.get("SpeedLimitValueOffset", encoding='utf8'))
+    self._brake_pressed = False
+    self._brake_pressed_prev = False
+
+    # 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,
+    }
+
+    # 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,
+    }
+
+  @property
+  def a_target(self):
+    return self._a_target if self.is_active else self._a_ego
+
+  @property
+  def state(self):
+    return self._state
+
+  @state.setter
+  def state(self, value):
+    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_active(self):
+    return self.state > SpeedLimitControlState.tempInactive
+
+  @property
+  def speed_limit_offseted(self):
+    return self._speed_limit + self.speed_limit_offset
+
+  @property
+  def speed_limit_offset(self):
+    if self._offset_type == 0:
+      return interp(self._speed_limit, LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V) * self._speed_limit
+    elif self._offset_type == 1:
+      return self._offset_value * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
+    elif self._offset_type == 2:
+      return self._offset_value * 0.01 * self._speed_limit
+    return 0.
+
+  @property
+  def speed_limit(self):
+    return self._speed_limit
+
+  @property
+  def distance(self):
+    return self._distance
+
+  @property
+  def source(self):
+    return self._source
+
+  def _update_params(self):
+    t = time.monotonic()
+    if t > self._last_params_update + PARAMS_UPDATE_PERIOD:
+      self._is_enabled = self._params.get_bool("SpeedLimitControl")
+      self._offset_type = int(self._params.get("SpeedLimitOffsetType", encoding='utf8'))
+      self._offset_value = float(self._params.get("SpeedLimitValueOffset", encoding='utf8'))
+      debug(f'Updated Speed limit params. enabled: {self._is_enabled}, with offset: {self._offset_type}')
+      self._last_params_update = t
+
+  def _update_calculations(self):
+    # 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_enabled_prev and self._op_enabled:
+      self._last_op_enabled_time = time.monotonic()
+
+    # 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
+    self._v_cruise_setpoint_prev = self._v_cruise_setpoint
+    self._op_enabled_prev = self._op_enabled
+    self._brake_pressed_prev = self._brake_pressed
+
+  def transition_state_from_inactive(self):
+    """ Make state transition from inactive state """
+    if self._v_offset < LIMIT_SPEED_OFFSET_TH:
+      self.state = SpeedLimitControlState.adapting
+    else:
+      self.state = SpeedLimitControlState.active
+
+  def transition_state_from_temp_inactive(self):
+    """ Make state transition from temporary inactive state """
+    if self._speed_limit_changed:
+      self.state = SpeedLimitControlState.inactive
+
+  def transition_state_from_adapting(self):
+    """ Make state transition from adapting state """
+    if self._v_offset >= LIMIT_SPEED_OFFSET_TH:
+      self.state = SpeedLimitControlState.active
+
+  def transition_state_from_active(self):
+    """ Make state transition from active state """
+    if self._v_offset < LIMIT_SPEED_OFFSET_TH:
+      self.state = SpeedLimitControlState.adapting
+
+  def _state_transition(self):
+    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_enabled or not self._is_enabled or self._speed_limit == 0 or (self._gas_pressed and self._disengage_on_accelerator):
+      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._v_cruise_setpoint_changed and \
+            time.monotonic() > (self._last_op_enabled_time + TEMP_INACTIVE_GUARD_PERIOD):
+      self.state = SpeedLimitControlState.tempInactive
+      return
+
+    self.state_transition_strategy[self.state]()
+
+  def get_current_acceleration_as_target(self):
+    """ When state is inactive or tempInactive, preserve current acceleration """
+    return self._a_ego
+
+  def get_adapting_state_target_acceleration(self):
+    """ 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 / ModelConstants.T_IDXS[CONTROL_N]
+
+  def get_active_state_target_acceleration(self):
+    """ In active state, aim to keep speed constant around control time horizon """
+    return self._v_offset / ModelConstants.T_IDXS[CONTROL_N]
+
+  def _update_solution(self):
+    a_target = self.acceleration_solutions[self.state]()
+
+    # Keep solution limited.
+    self._a_target = np.clip(a_target, LIMIT_MIN_ACC, LIMIT_MAX_ACC)
+
+  def _update_events(self, events):
+    if not self.is_active:
+      # no event while inactive
+      return
+
+    if self._state_prev <= SpeedLimitControlState.tempInactive:
+      events.add(EventName.speedLimitActive)
+    elif self._speed_limit_changed != 0:
+      events.add(EventName.speedLimitValueChange)
+
+  def update(self, enabled, v_ego, a_ego, sm, v_cruise_setpoint, events=Events()):
+    _car_state = sm['carState']
+    self._op_enabled = enabled and sm['controlsState'].enabled and _car_state.cruiseState.enabled and \
+                       not (_car_state.brakePressed and (not self._brake_pressed_prev or not _car_state.standstill)) and \
+                       not events.contains(ET.OVERRIDE_LONGITUDINAL)
+    self._v_ego = v_ego
+    self._a_ego = a_ego
+    self._v_cruise_setpoint = v_cruise_setpoint
+    self._gas_pressed = _car_state.gasPressed
+    self._brake_pressed = _car_state.brakePressed
+
+    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_solution()
+    self._update_events(events)
diff --git a/selfdrive/controls/lib/sunnypilot/speed_limit_resolver.py b/selfdrive/controls/lib/sunnypilot/speed_limit_resolver.py
new file mode 100644
index 0000000000..5617239fcd
--- /dev/null
+++ b/selfdrive/controls/lib/sunnypilot/speed_limit_resolver.py
@@ -0,0 +1,122 @@
+import time
+import numpy as np
+
+from openpilot.selfdrive.controls.lib.drive_helpers import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
+from openpilot.selfdrive.controls.lib.sunnypilot.common import Source, Policy
+from openpilot.selfdrive.controls.lib.sunnypilot.helpers import debug
+
+
+class SpeedLimitResolver:
+
+  def __init__(self, policy=Policy.nav_priority):
+    self._limit_solutions = {}  # Store for speed limit solutions from different sources
+    self._distance_solutions = {}  # Store for distance to current speed limit start for different sources
+
+    self._policy = policy
+    self._policy_to_sources_map = {
+      Policy.car_state_only: [Source.car_state],
+      Policy.car_state_priority: [Source.car_state, Source.nav, Source.map_data],
+      Policy.map_data_priority: [Source.map_data, Source.nav, Source.car_state],
+      Policy.nav_priority: [Source.nav, Source.map_data, Source.car_state],
+      Policy.map_data_only: [Source.map_data],
+      Policy.combined: [Source.car_state, Source.nav, Source.map_data],
+      Policy.nav_only: [Source.nav]
+    }
+    self._reset_limit_sources()
+
+  def _reset_limit_sources(self):
+    self._limit_solutions.clear()
+    self._distance_solutions.clear()
+    for source in Source:
+      self._limit_solutions[source] = 0.
+      self._distance_solutions[source] = 0.
+
+  def resolve(self, v_ego, current_speed_limit, sm):
+    self._reset_limit_sources()
+    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):
+    """Get limit solutions from each data source"""
+    self._get_from_car_state()
+    self._get_from_nav()
+    self._get_from_map_data()
+
+  def _get_from_car_state(self):
+    self._limit_solutions[Source.car_state] = self._sm['carState'].cruiseState.speedLimit
+    self._distance_solutions[Source.car_state] = 0.
+
+  def _get_from_nav(self):
+    if not self._sm.alive['navInstruction']:
+      debug('SL: No nav instruction for speed limit')
+      return
+
+    # Load limits from nav instruction
+    self._limit_solutions[Source.nav] = self._sm['navInstruction'].speedLimit
+    self._distance_solutions[Source.nav] = 0.
+
+  def _get_from_map_data(self):
+    sock = 'liveMapDataSP'
+    if self._sm.logMonoTime[sock] is None:
+      debug('SL: No map data for speed limit')
+      return
+
+    # Load limits from map_data
+    self._process_map_data(self._sm[sock])
+
+  def _process_map_data(self, map_data):
+    speed_limit = map_data.speedLimit if map_data.speedLimitValid else 0.
+    next_speed_limit = map_data.speedLimitAhead if map_data.speedLimitAheadValid else 0.
+
+    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
+
+    self._calculate_map_data_limits(speed_limit, next_speed_limit, map_data)
+
+  def _calculate_map_data_limits(self, speed_limit, next_speed_limit, map_data):
+    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):
+    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
+
+    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 sources[min_idx]
+
+    return None
diff --git a/selfdrive/controls/lib/sunnypilot/tests/test_speed_limit_resolver.py b/selfdrive/controls/lib/sunnypilot/tests/test_speed_limit_resolver.py
new file mode 100644
index 0000000000..2903f98c23
--- /dev/null
+++ b/selfdrive/controls/lib/sunnypilot/tests/test_speed_limit_resolver.py
@@ -0,0 +1,132 @@
+import random
+import time
+
+import pytest
+from unittest.mock import MagicMock
+
+from openpilot.selfdrive.controls.lib.drive_helpers import LIMIT_MAX_MAP_DATA_AGE
+
+# from selfdrive.controls.lib.speed_limit_controller_tbd import SpeedLimitResolver as OriginalSpeedLimitResolver
+from selfdrive.controls.lib.sunnypilot.speed_limit_resolver import SpeedLimitResolver as RefactoredSpeedLimitResolver
+from openpilot.selfdrive.controls.lib.sunnypilot.common import Source
+from openpilot.selfdrive.controls.lib.sunnypilot.common import Policy
+
+
+def create_mock(properties):
+  mock = MagicMock()
+  for property, value in properties.items():
+    setattr(mock, property, value)
+  return mock
+
+
+def setup_sm_mock():
+  cruise_speed_limit = random.uniform(0, 120)
+  nav_instruction_limit = random.uniform(0, 120)
+  live_map_data_limit = random.uniform(0, 120)
+
+  cruise_state = create_mock({'speedLimit': cruise_speed_limit})
+  car_state = create_mock({
+    'cruiseState': cruise_state,
+    'gasPressed': False,
+    'brakePressed': False,
+    'standstill': False,
+  })
+  nav_instruction = create_mock({'speedLimit': nav_instruction_limit})
+  live_map_data = create_mock({
+    'speedLimit': live_map_data_limit,
+    'speedLimitValid': True,
+    'speedLimitAhead': 0.,
+    'speedLimitAheadValid': 0.,
+    'speedLimitAheadDistance': 0.,
+    'lastGpsTimestamp': time.time() * 1e3,
+  })
+  sm_mock = MagicMock()
+  sm_mock.__getitem__.side_effect = lambda key: {
+    'carState': car_state,
+    'navInstruction': nav_instruction,
+    'liveMapDataSP': live_map_data,
+  }[key]
+  return sm_mock
+
+
+parametrized_policies = pytest.mark.parametrize(
+  "policy, sm_key, function_key", [
+    (Policy.car_state_only, 'carState', 'car_state'),
+    (Policy.car_state_priority, 'carState', 'car_state'),
+    (Policy.map_data_only, 'liveMapDataSP', 'map_data'),
+    (Policy.map_data_priority, 'liveMapDataSP', 'map_data'),
+    (Policy.nav_only, 'navInstruction', 'nav'),
+    (Policy.nav_priority, 'navInstruction', 'nav'),
+  ],
+  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):
+    resolver = resolver_class(policy)
+    sm_mock = setup_sm_mock()
+    source_speed_limit = sm_mock[sm_key].cruiseState.speedLimit if sm_key == 'carState' else 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):
+    resolver = resolver_class(Policy.combined)
+    sm_mock = setup_sm_mock()
+    socket_to_source = {'carState': Source.car_state, 'liveMapDataSP': Source.map_data, 'navInstruction': Source.nav}
+    minimum_key, minimum_speed_limit = min(
+      ((key, sm_mock[key].cruiseState.speedLimit) if key == 'carState' else (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):
+    resolver = resolver_class(policy)
+    sm_mock = setup_sm_mock()
+    source_speed_limit = sm_mock[sm_key].cruiseState.speedLimit if sm_key == 'carState' else 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):
+    v_ego = 50
+    resolver = resolver_class(policy)
+
+    sm_mock = setup_sm_mock()
+    _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):
+    resolver = resolver_class(policy)
+    sm_mock = 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/selfdrive/ui/qt/offroad/sunnypilot_settings.cc b/selfdrive/ui/qt/offroad/sunnypilot_settings.cc
index 07b234ac45..e24302103f 100644
--- a/selfdrive/ui/qt/offroad/sunnypilot_settings.cc
+++ b/selfdrive/ui/qt/offroad/sunnypilot_settings.cc
@@ -998,9 +998,9 @@ void SpeedLimitOffsetType::refresh() {
   if (option == "0") {
     setLabel(tr("Default"));
   } else if (option == "1") {
-    setLabel(tr("%"));
-  } else if (option == "2") {
     setLabel(tr("Value"));
+  } else if (option == "2") {
+    setLabel(tr("%"));
   }
 }