Controls - Speed Limit Controller - Speed Limit Changed Alert

selfdrive/controls/controlsd.py

@@ -932,7 +932,7 @@ class Controls:
       self.events.add(EventName.openpilotCrashed)
       self.openpilot_crashed_triggered = True
 
-    if self.frogpilot_toggles.speed_limit_confirmation:
+    if self.frogpilot_toggles.speed_limit_alert or self.frogpilot_toggles.speed_limit_confirmation:
       current_speed_limit = self.sm['frogpilotPlan'].slcSpeedLimit
       desired_speed_limit = self.sm['frogpilotPlan'].unconfirmedSlcSpeedLimit
 
@@ -966,6 +966,9 @@ class Controls:
         self.FPCC.speedLimitChanged = False
         self.params_memory.put_bool("SLCConfirmedPressed", False)
 
+      if (speed_limit_changed_lower or speed_limit_changed_higher) and self.frogpilot_toggles.speed_limit_alert:
+        self.events.add(EventName.speedLimitChanged)
+
       if self.FPCC.speedLimitChanged:
         self.speed_limit_timer += DT_CTRL
         if self.speed_limit_timer >= 10:

selfdrive/controls/lib/events.py

@@ -1010,6 +1010,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.HIGH, VisualAlert.wrongGear, AudibleAlert.promptRepeat, 4.),
   },
 
+  EventName.speedLimitChanged: {
+    ET.PERMANENT: Alert(
+      "Speed Limit Changed",
+      "",
+      AlertStatus.frogpilot, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.),
+  },
+
   EventName.torqueNNLoad: {
     ET.PERMANENT: torque_nn_load_alert,
   },