From 285fd9760698673d99a51cf407d480d2bc4e0531 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 13 Oct 2025 20:36:24 -0400
Subject: [PATCH] ui: only draw speedCluster speed over "MAX" when ICBM is
 enabled (#1374)

---
 selfdrive/ui/sunnypilot/qt/onroad/hud.cc | 4 +++-
 selfdrive/ui/sunnypilot/qt/onroad/hud.h  | 1 +
 selfdrive/ui/sunnypilot/ui.cc            | 2 +-
 3 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
index 3ed8feb99..8c913cec1 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -35,6 +35,7 @@ void HudRendererSP::updateState(const UIState &s) {
   const auto gpsLocation = is_gps_location_external ? sm["gpsLocationExternal"].getGpsLocationExternal() : sm["gpsLocation"].getGpsLocation();
   const auto ltp = sm["liveTorqueParameters"].getLiveTorqueParameters();
   const auto car_params = sm["carParams"].getCarParams();
+  const auto car_params_sp = sm["carParamsSP"].getCarParamsSP();
   const auto lp_sp = sm["longitudinalPlanSP"].getLongitudinalPlanSP();
   const auto lmd = sm["liveMapDataSP"].getLiveMapDataSP();
 
@@ -130,6 +131,7 @@ void HudRendererSP::updateState(const UIState &s) {
 
   carControlEnabled = car_control.getEnabled();
   speedCluster = car_state.getCruiseState().getSpeedCluster() * speedConv;
+  pcmCruiseSpeed = car_params_sp.getPcmCruiseSpeed();
 }
 
 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -689,7 +691,7 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
   }
 
   // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
-  if (carControlEnabled) {
+  if (!pcmCruiseSpeed && carControlEnabled) {
     if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
       icbm_active_counter = 3 * UI_FREQ;
     } else if (icbm_active_counter > 0) {
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
index 554c9c5d0..bc7ee81de 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -120,4 +120,5 @@ private:
   bool carControlEnabled;
   float speedCluster = 0;
   int icbm_active_counter = 0;
+  bool pcmCruiseSpeed;
 };
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index ab1ca0e6a..df7b3ce5c 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -29,7 +29,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
     "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
     "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters", "liveMapDataSP"
+    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP"
   });
 
   // update timer