November 2024 Update

FrogAi · Oct 31, 2024 · 9bea8f1 · 9bea8f1
1 parent d9aaed3
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diff --git a/README.md b/README.md
@@ -21,7 +21,7 @@ FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise
 ------
 FrogPilot was last updated on:
 
-**October 21st, 2024**
+**November 1st, 2024**
 
 Features
 ------

diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -137,14 +137,15 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     openpilotCrashedRandomEvent @137;
     pedalInterceptorNoBrake @138;
     speedLimitChanged @139;
-    torqueNNLoad @140;
-    trafficModeActive @141;
-    trafficModeInactive @142;
-    turningLeft @143;
-    turningRight @144;
-    vCruise69 @145;
-    yourFrogTriedToKillMe @146;
-    youveGotMail @147;
+    thisIsFineSteerSaturated @140;
+    torqueNNLoad @141;
+    trafficModeActive @142;
+    trafficModeInactive @143;
+    turningLeft @144;
+    turningRight @145;
+    vCruise69 @146;
+    yourFrogTriedToKillMe @147;
+    youveGotMail @148;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -453,7 +454,8 @@ struct CarControl {
       mail @16;
       nessie @17;
       noice @18;
-      uwu @19;
+      thisIsFine @19;
+      uwu @20;
     }
   }
 

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
@@ -54,27 +54,29 @@ struct FrogPilotPlan @0x80ae746ee2596b11 {
   desiredFollowDistance @4 :Float32;
   experimentalMode @5 :Bool;
   forcingStop @6 :Bool;
-  frogpilotEvents @7 :List(Car.CarEvent);
-  lateralCheck @8 :Bool;
-  laneWidthLeft @9 :Float32;
-  laneWidthRight @10 :Float32;
-  maxAcceleration @11 :Float32;
-  minAcceleration @12 :Float32;
-  redLight @13 :Bool;
-  safeObstacleDistance @14 :Int32;
-  safeObstacleDistanceStock @15 :Int32;
-  slcOverridden @16 :Bool;
-  slcOverriddenSpeed @17 :Float32;
-  slcSpeedLimit @18 :Float32;
-  slcSpeedLimitOffset @19 :Float32;
-  speedJerk @20 :Float32;
-  speedJerkStock @21 :Float32;
-  speedLimitChanged @22 :Bool;
-  stoppedEquivalenceFactor @23 :Int32;
-  tFollow @24 :Float32;
-  unconfirmedSlcSpeedLimit @25 :Float32;
-  vCruise @26 :Float32;
-  vtscControllingCurve @27 :Bool;
+  forcingStopLength @7 :Float32;
+  frogpilotEvents @8 :List(Car.CarEvent);
+  lateralCheck @9 :Bool;
+  laneWidthLeft @10 :Float32;
+  laneWidthRight @11 :Float32;
+  maxAcceleration @12 :Float32;
+  minAcceleration @13 :Float32;
+  redLight @14 :Bool;
+  safeObstacleDistance @15 :Int32;
+  safeObstacleDistanceStock @16 :Int32;
+  slcOverridden @17 :Bool;
+  slcOverriddenSpeed @18 :Float32;
+  slcSpeedLimit @19 :Float32;
+  slcSpeedLimitOffset @20 :Float32;
+  speedJerk @21 :Float32;
+  speedJerkStock @22 :Float32;
+  speedLimitChanged @23 :Bool;
+  stoppedEquivalenceFactor @24 :Int32;
+  tFollow @25 :Float32;
+  togglesUpdated @26 :Bool;
+  unconfirmedSlcSpeedLimit @27 :Float32;
+  vCruise @28 :Float32;
+  vtscControllingCurve @29 :Bool;
 }
 
 struct CustomReserved5 @0xa5cd762cd951a455 {

diff --git a/cereal/log.capnp b/cereal/log.capnp
@@ -618,6 +618,10 @@ struct RadarState @0x9a185389d6fdd05f {
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
+  leadLeft @13 :LeadData;
+  leadRight @14 :LeadData;
+  leadLeftFar @15 :LeadData;
+  leadRightFar @16 :LeadData;
   cumLagMs @5 :Float32;
 
   struct LeadData {

diff --git a/cereal/services.py b/cereal/services.py
@@ -74,13 +74,6 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
 
-  # FrogPilot
-  "frogpilotCarControl": (True, 100., 10),
-  "frogpilotCarState": (True, 100., 10),
-  "frogpilotDeviceState": (True, 2., 1),
-  "frogpilotNavigation": (True, 1., 10),
-  "frogpilotPlan": (True, 20., 5),
-
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),
@@ -97,6 +90,13 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),
+
+  # FrogPilot
+  "frogpilotCarControl": (True, 100., 10),
+  "frogpilotCarState": (True, 100., 10),
+  "frogpilotDeviceState": (True, 2., 1),
+  "frogpilotNavigation": (True, 1., 10),
+  "frogpilotPlan": (True, 20., 5),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}

diff --git a/common/conversions.py b/common/conversions.py
@@ -12,8 +12,6 @@ class Conversions:
   KNOTS_TO_MS = 1. / MS_TO_KNOTS
 
   # Distance
-  KM_TO_MILES = KPH_TO_MPH
-  MILES_TO_KM = MPH_TO_KPH
   METER_TO_FOOT = 3.28084
   FOOT_TO_METER = 1. / METER_TO_FOOT
   CM_TO_INCH = 1. / 2.54

diff --git a/common/params.cc b/common/params.cc
@@ -211,12 +211,11 @@ std::unordered_map<std::string, uint32_t> keys = {
     // FrogPilot parameters
     {"AccelerationPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"AccelerationProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
+    {"AdjacentLeadsUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"AdjacentPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"AdjacentPathMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"AdvancedCustomUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"AdvancedLateralTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"AdvancedLongitudinalTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"AdvancedQOLDriving", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"AggressiveFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"AggressiveJerkAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"AggressiveJerkDanger", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -240,7 +239,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"BlindSpotMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"BlindSpotPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"BorderMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"CameraFPS", PERSISTENT},
     {"CameraView", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"CancelModelDownload", PERSISTENT},
     {"CancelThemeDownload", PERSISTENT},
@@ -266,6 +264,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CESpeedLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CEStatus", CLEAR_ON_OFFROAD_TRANSITION},
     {"CEStoppedLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
+    {"ClassicModels", PERSISTENT},
     {"ClusterOffset", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"ColorToDownload", PERSISTENT},
     {"Compass", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
@@ -281,7 +280,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CustomCruiseLong", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CustomDistanceIcons", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CustomIcons", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"CustomPaths", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
+    {"CustomizationLevel", PERSISTENT},
+    {"CustomizationLevelConfirmed", PERSISTENT},
     {"CustomPersonalities", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CustomSignals", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"CustomSounds", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
@@ -293,6 +293,10 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisableCurveSpeedSmoothing", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DisableOnroadUploads", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DisableOpenpilotLongitudinal", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
+    {"DissolvedOxygenCalibrationParams", PERSISTENT},
+    {"DissolvedOxygenDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
+    {"DissolvedOxygenLiveTorqueParameters", PERSISTENT},
+    {"DissolvedOxygenScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DistanceIconToDownload", PERSISTENT},
     {"DisengageVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"DoToggleReset", PERSISTENT},
@@ -303,10 +307,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DownloadableSounds", PERSISTENT},
     {"DownloadableWheels", PERSISTENT},
     {"DownloadAllModels", PERSISTENT},
-    {"DragonPilotTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"DriveRated", CLEAR_ON_ONROAD_TRANSITION},
     {"DriverCamera", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"DrivingPersonalities", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DuckAmigoCalibrationParams", PERSISTENT},
     {"DuckAmigoDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DuckAmigoLiveTorqueParameters", PERSISTENT},
@@ -334,6 +336,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"FrogPilotDrives", PERSISTENT | FROGPILOT_TRACKING},
     {"FrogPilotKilometers", PERSISTENT | FROGPILOT_TRACKING},
     {"FrogPilotMinutes", PERSISTENT | FROGPILOT_TRACKING},
+    {"FrogPilotToggles", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},
     {"FrogsGoMoo", PERSISTENT},
     {"FrogsGoMoosTweak", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
@@ -353,8 +356,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HideMapIcon", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HideMaxSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HideSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"HideSpeedUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"HideUIElements", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HolidayThemes", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HumanAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"HumanFollowing", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -397,16 +398,15 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"MinimumLaneChangeSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"Model", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"ModelDownloadProgress", PERSISTENT},
-    {"ModelManagement", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"ModelName", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"ModelRandomizer", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"ModelsDownloaded", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"ModelSelector", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"ModelToDownload", PERSISTENT},
     {"ModelUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"MTSCCurvatureCheck", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"MTSCEnabled", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NavigationModels", PERSISTENT},
+    {"NavigationUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"NextMapSpeedLimit", PERSISTENT},
     {"NewLongAPI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"NewLongAPIGM", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
@@ -493,7 +493,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ShowIP", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"ShowMemoryUsage", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"ShowSLCOffset", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"ShowSLCOffsetUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"ShowSteering", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"ShowStoppingPoint", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"ShowStoppingPointMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
@@ -541,6 +540,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TacoTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"TetheringEnabled", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER},
     {"ThemeDownloadProgress", PERSISTENT},
+    {"ThemeUpdated", PERSISTENT},
     {"TombRaiderCalibrationParams", PERSISTENT},
     {"TombRaiderDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"TombRaiderLiveTorqueParameters", PERSISTENT},
@@ -564,7 +564,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UseSI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"UseStockColors", CLEAR_ON_MANAGER_START},
     {"UseVienna", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"VelocityModels", PERSISTENT},
     {"VisionTurnControl", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"VoltSNG", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"WarningImmediateVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},

diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
@@ -16,7 +16,8 @@
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
 
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
+from openpilot.selfdrive.frogpilot.frogpilot_utilities import update_frogpilot_toggles
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles
 
 REPLAY = "REPLAY" in os.environ
 
@@ -28,7 +29,7 @@ class Car:
 
   def __init__(self, CI=None):
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents', 'frogpilotPlan'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'frogpilotCarState'])
 
     self.can_rcv_cum_timeout_counter = 0
@@ -74,10 +75,7 @@ def __init__(self, CI=None):
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
     # FrogPilot variables
-    self.frogpilot_toggles = FrogPilotVariables.toggles
-    FrogPilotVariables.update_frogpilot_params()
-
-    self.update_toggles = False
+    self.frogpilot_toggles = get_frogpilot_toggles(True)
 
     # set alternative experiences from parameters
     self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
@@ -97,6 +95,8 @@ def __init__(self, CI=None):
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
+    update_frogpilot_toggles()
+
   def state_update(self) -> car.CarState:
     """carState update loop, driven by can"""
 
@@ -199,11 +199,8 @@ def card_thread(self):
       self.rk.monitor_time()
 
       # Update FrogPilot parameters
-      if FrogPilotVariables.toggles_updated:
-        self.update_toggles = True
-      elif self.update_toggles:
-        FrogPilotVariables.update_frogpilot_params()
-        self.update_toggles = False
+      if self.sm['frogpilotPlan'].togglesUpdated:
+        self.frogpilot_toggles = get_frogpilot_toggles()
 
 def main():
   config_realtime_process(4, Priority.CTRL_HIGH)

diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
@@ -97,9 +97,9 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
       # Both gas and accel are in m/s^2, accel is used solely for braking
       if frogpilot_toggles.sport_plus:
-        accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, get_max_allowed_accel(CS.out.vEgo)))
+        accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo)))
       else:
-        accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, CarControllerParams.ACCEL_MAX))
+        accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, CarControllerParams.ACCEL_MAX))
       gas = accel
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS

diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
@@ -219,9 +219,9 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
 
         if self.CP.carFingerprint in HONDA_BOSCH:
           if frogpilot_toggles.sport_plus:
-            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, get_max_allowed_accel(CS.out.vEgo)))
+            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo)))
           else:
-            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, self.params.BOSCH_ACCEL_MAX))
+            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, self.params.BOSCH_ACCEL_MAX))
           self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
 
           stopping = actuators.longControlState == LongCtrlState.stopping

diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
@@ -82,9 +82,9 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
 
     # accel + longitudinal
     if frogpilot_toggles.sport_plus:
-      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, get_max_allowed_accel(CS.out.vEgo)))
+      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo)))
     else:
-      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, CarControllerParams.ACCEL_MAX))
+      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, CarControllerParams.ACCEL_MAX))
     stopping = actuators.longControlState == LongCtrlState.stopping
     set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)