Merge branch 'master' into ccnc-port

cereal/custom.capnp

@@ -231,7 +231,7 @@ struct OnroadEventSP @0xda96579883444c35 {
 struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
   safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
-  pcmCruiseSpeed @3 :Bool = true;
+  pcmCruiseSpeed @3 :Bool;
   intelligentCruiseButtonManagementAvailable @4 :Bool;
 
   neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
@@ -261,7 +261,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
 
     valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
   }
-  
+
   enum ParamType {
     string @0;
     bool @1;

selfdrive/car/tests/test_cruise_speed.py

@@ -44,12 +44,12 @@ class TestCruiseSpeed:
     assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s'
 
 
-# TODO: test pcmCruise
-@parameterized_class(('pcm_cruise',), [(False,)])
+# TODO: test pcmCruise and pcmCruiseSpeed
+@parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
 class TestVCruiseHelper:
   def setup_method(self):
     self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
-    self.CP_SP = custom.CarParamsSP()
+    self.CP_SP = custom.CarParamsSP(pcmCruiseSpeed=self.pcm_cruise_speed)
     self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
     self.reset_cruise_speed_state()
 

sunnypilot/selfdrive/car/tests/test_custom_cruise.py

@@ -11,7 +11,8 @@ ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 
 
-@parameterized_class(('pcm_cruise',), [(False,)])
+# TODO: test pcmCruise and pcmCruiseSpeed
+@parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
 class TestCustomAccIncrements(TestVCruiseHelper):
   def setup_method(self):
     TestVCruiseHelper.setup_method(self)