Set speed offset

Added toggle to apply an offset to the set speed.

Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>

selfdrive/controls/controlsd.py

@@ -1108,6 +1108,7 @@ class Controls:
     quality_of_life = self.params.get_bool("QOLControls")
     self.pause_lateral_on_signal = self.params.get_int("PauseLateralOnSignal") * (CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS) if quality_of_life else 0
     self.frogpilot_variables.reverse_cruise_increase = quality_of_life and self.params.get_bool("ReverseCruise")
+    self.frogpilot_variables.set_speed_offset = self.params.get_int("SetSpeedOffset") * (1 if self.is_metric else CV.MPH_TO_KPH) if quality_of_life else 0
 
 def main():
   controls = Controls()

selfdrive/controls/lib/drive_helpers.py

@@ -114,6 +114,12 @@ class VCruiseHelper:
     else:
       self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
 
+    # Apply offset
+    v_cruise_offset = (frogpilot_variables.set_speed_offset * CRUISE_INTERVAL_SIGN[button_type]) if long_press else 0
+    if v_cruise_offset < 0:
+      v_cruise_offset = frogpilot_variables.set_speed_offset - v_cruise_delta
+    self.v_cruise_kph += v_cruise_offset
+
     # If set is pressed while overriding, clip cruise speed to minimum of vEgo
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)