0 makes more sense

selfdrive/car/gm/interface.py

@@ -179,7 +179,7 @@ class CarInterface(CarInterfaceBase):
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
     # The ECM will fault if resume triggers an enable while speed is unset (unset is greater than 70 m/s)
-    if c.hudControl.setSpeed >= 70:
+    if c.hudControl.setSpeed == 0:
       events.add(car.CarEvent.EventName.resumeBlocked)
 
     # handle button presses

selfdrive/controls/controlsd.py

@@ -16,7 +16,7 @@ from system.version import get_short_branch
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_INITIAL, update_v_cruise, initialize_v_cruise
+from selfdrive.controls.lib.drive_helpers import update_v_cruise, initialize_v_cruise
 from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature
 from selfdrive.controls.lib.latcontrol import LatControl
 from selfdrive.controls.lib.longcontrol import LongControl
@@ -162,8 +162,8 @@ class Controls:
     self.active = False
     self.can_rcv_error = False
     self.soft_disable_timer = 0
-    self.v_cruise_kph = V_CRUISE_INITIAL
-    self.v_cruise_cluster_kph = V_CRUISE_INITIAL
+    self.v_cruise_kph = 0
+    self.v_cruise_cluster_kph = 0
     self.v_cruise_kph_last = 0
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
@@ -452,22 +452,19 @@ class Controls:
 
     self.v_cruise_kph_last = self.v_cruise_kph
 
-    # if stock cruise is completely disabled, then we can use our own set speed logic
-    if not self.CP.pcmCruise:
-      if CS.cruiseState.available:
+    if CS.cruiseState.available:
+      # if stock cruise is completely disabled, then we can use our own set speed logic
+      if not self.CP.pcmCruise:
         self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
                                             self.button_timers, self.enabled, self.is_metric)
         self.v_cruise_cluster_kph = self.v_cruise_kph
       else:
-        self.v_cruise_kph = V_CRUISE_INITIAL
-        self.v_cruise_cluster_kph = V_CRUISE_INITIAL
-    else:
-      if CS.cruiseState.available:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
         self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
-      else:
-        self.v_cruise_kph = 0
-        self.v_cruise_cluster_kph = 0
+
+    else:
+      self.v_cruise_kph = 0
+      self.v_cruise_cluster_kph = 0
 
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state

selfdrive/controls/lib/drive_helpers.py

@@ -11,7 +11,6 @@ from selfdrive.modeld.constants import T_IDXS
 V_CRUISE_MAX = 145  # kph
 V_CRUISE_MIN = 8  # kph
 V_CRUISE_ENABLE_MIN = 40  # kph
-V_CRUISE_INITIAL = 255  # kph
 
 LAT_MPC_N = 16
 LON_MPC_N = 32
@@ -96,8 +95,8 @@ def update_v_cruise(v_cruise_kph, v_ego, gas_pressed, buttonEvents, button_timer
 
 def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
   for b in buttonEvents:
-    # 250kph or above probably means we never had a set speed
-    if b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) and v_cruise_last < 250:
+    # 0kph means we don't have a set speed
+    if b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) and v_cruise_last != 0:
       return v_cruise_last
 
   return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))