wip

selfdrive/controls/controlsd.py

@@ -1239,6 +1239,7 @@ class Controls:
     if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
       # CC.cruiseControl.resume = True
       CC.cruiseControl.cancel = True
+    self.params.set_int("SpeedLimitLatDesired", CC.actuators.speed)
     # CC.actuators.speed
     # print ("Alive")
     return CC

selfdrive/ui/qt/onroad.cc

@@ -448,6 +448,10 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   QString speedLimitStr = QString::number(paramsMemory.getInt("CarSpeedLimitLiteral"));
   drawSpeedWidget(p, 60, 45 + (225), QString("Limit"), speedLimitStr, QColor(0xff, 0xff, 0xff));
  
+  // Todo: needs to be changed to calculate off of actual speed limit for release
+  QString SpeedLimitLatDesired = QString::number(paramsMemory.getInt("SpeedLimitLatDesired"));
+  drawSpeedWidget(p, 60, 45 + (225 * 2), QString("Exp"), SpeedLimitLatDesired, QColor(0xff, 0xff, 0xff));
+
   // Todo: lead speed
   // Todo: Experimental speed