From 77b2ecef2004a9485562404db3b589637b7f0147 Mon Sep 17 00:00:00 2001
From: Brian Hanson <brian@hanson.xyz>
Date: Mon, 13 Apr 2026 05:55:30 +0000
Subject: [PATCH] onroad UI: GPS speed display, hidden when no fix

Speed indicator now uses gpsLocation speed (MPH) instead of carState
vEgo. Hides completely when no GPS fix is available. Added gpsLocation
to UI SubMaster subscriptions.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
---
 selfdrive/ui/qt/onroad.cc | 22 ++++++++++++----------
 selfdrive/ui/qt/onroad.h  |  1 +
 selfdrive/ui/ui.cc        |  1 +
 3 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index a75d1ee..14d7d31 100755
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -341,6 +341,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   const bool cs_alive = sm.alive("controlsState");
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
+  (void)car_state;  // CLEARPILOT: suppress unused warning, will use later
 
   // Handle older routes where vCruiseCluster is not set
   float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
@@ -350,11 +351,15 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
     setSpeed *= KM_TO_MILE;
   }
 
-  // Handle older routes where vEgoCluster is not set
-  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen && !scene.wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo();
-  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
+  // CLEARPILOT: use GPS speed if available, hide speed display if no GPS fix
+  has_gps_speed = sm.valid("gpsLocation") && sm["gpsLocation"].getGpsLocation().getHasFix();
+  if (has_gps_speed) {
+    float gps_speed_ms = sm["gpsLocation"].getGpsLocation().getSpeed();
+    speed = std::max<float>(0.0, gps_speed_ms);
+    speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
+  } else {
+    speed = 0.0;
+  }
 
   // auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
   // speedLimit = slcOverridden ? scene.speed_limit_overridden_speed : speedLimitController ? scene.speed_limit : nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
@@ -449,13 +454,10 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   // Todo: lead speed
   // Todo: Experimental speed
 
-  // // current speed
-  if (!(scene.hide_speed)) {
-    // CLEARPILOT changes to 120 from ~176
-    // Maybe we want to hide this?
+  // CLEARPILOT: show GPS speed, hide when no fix
+  if (has_gps_speed && !scene.hide_speed) {
     p.setFont(InterFont(140, QFont::Bold));
     drawText(p, rect().center().x(), 210, speedStr);
-    // CLEARPILOT changes to 40 from 66
     p.setFont(InterFont(50));
     drawText(p, rect().center().x(), 290, speedUnit, 200);
   }
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 0499164..df67925 100755
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -55,6 +55,7 @@ private:
   QVBoxLayout *main_layout;
   QPixmap dm_img;
   float speed;
+  bool has_gps_speed = false;
   QString speedUnit;
   float setSpeed;
   float speedLimit;
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 28a8536..a85a345 100755
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -442,6 +442,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
     "wideRoadCameraState", "managerState", "uiPlan", "liveTorqueParameters",
     "frogpilotCarControl", "frogpilotDeviceState", "frogpilotPlan",
+    "gpsLocation",
   });
 
   Params params;