From 87beff9cad126e59648e76a09abc6090e04f3368 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 2 Sep 2025 21:53:05 -0400 Subject: [PATCH] use vCruiseCluster for set speed --- sunnypilot/selfdrive/controls/lib/longitudinal_planner.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py index 9224f9f358..c7e16ed976 100644 --- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py +++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py @@ -53,7 +53,8 @@ class LongitudinalPlannerSP: # Speed Limit Control _speed_limit, _distance, _source = self.resolver.resolve(v_ego, sm) - v_cruise_slc = self.slc.update(sm['carControl'].longActive, v_ego, a_ego, v_cruise, _speed_limit, _distance, _source, self.events_sp) + v_cruise_slc = self.slc.update(sm['carControl'].longActive, v_ego, a_ego, sm['carState'].vCruiseCluster, + _speed_limit, _distance, _source, self.events_sp) v_cruise_final = min(v_cruise, v_cruise_slc)