diff --git a/opendbc_repo/opendbc/car/interfaces.py b/opendbc_repo/opendbc/car/interfaces.py
index 5728fff..eeddbd0 100644
--- a/opendbc_repo/opendbc/car/interfaces.py
+++ b/opendbc_repo/opendbc/car/interfaces.py
@@ -213,7 +213,7 @@ class CarInterfaceBase(ABC):
     dbc_names = {bus: cp.dbc_name for bus, cp in self.can_parsers.items()}
     self.CC: CarControllerBase = CarController(dbc_names, CP)
 
-    Params().put('LongitudinalPersonalityMax', "3")
+    Params().put('LongitudinalPersonalityMax', "4") # 强制调整4
     eps_firmware = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), ""))
 
     comma_nnff_supported = self.check_comma_nn_ff_support(CP.carFingerprint)
@@ -221,7 +221,7 @@ class CarInterfaceBase(ABC):
 
     self.use_nnff = not comma_nnff_supported and nnff_supported and Params().get_bool("NNFF")
     self.use_nnff_lite = not self.use_nnff and Params().get_bool("NNFFLite")
-    
+
   def get_ff_nn(self, x):
     return self.lat_torque_nn_model.evaluate(x)
 
@@ -233,7 +233,7 @@ class CarInterfaceBase(ABC):
   def initialize_lat_torque_nn(self, car, eps_firmware) -> bool:
     self.lat_torque_nn_model = get_nn_model(car, eps_firmware)
     return self.lat_torque_nn_model is not None
-    
+
 
   def apply(self, c: structs.CarControl, now_nanos: int | None = None) -> tuple[structs.CarControl.Actuators, list[CanData]]:
     if now_nanos is None:
@@ -267,7 +267,7 @@ class CarInterfaceBase(ABC):
     ret.flags |= int(platform.config.flags)
 
     ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
-    
+
     # Enable torque controller for all cars that do not use angle based steering
     if ret.steerControlType != structs.CarParams.SteerControlType.angle and Params().get_bool("NNFF"):
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -276,7 +276,7 @@ class CarInterfaceBase(ABC):
       if model is not None:
         Params().put_nonblocking("NNFFModelName", candidate.replace("_", " "))
         print(f"NNFF loaded... {model}")
-    
+
 
     if Params().get_bool("DisableMinSteerSpeed"):
       ret.minSteerSpeed = 0.
@@ -453,7 +453,7 @@ class CarStateBase(ABC):
 
     v_ego_x = self.v_ego_kf.update(v_ego_raw)
     return float(v_ego_x[0]), float(v_ego_x[1])
-  
+
   def update_clu_speed_kf(self, v_ego_raw):
     if abs(v_ego_raw - self.v_ego_clu_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed
       self.v_ego_clu_kf.set_x([[v_ego_raw], [0.0]])
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index 98a9b2f..fc7631e 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -438,8 +438,8 @@ class VCruiseCarrot:
           speed_kph = int(self.carrot_arg)
           if 0 < speed_kph < 200:
             v_cruise_kph = speed_kph
-            self._add_log(f"Cruise speed set to {v_cruise_kph} (carrot command)")       
-    
+            self._add_log(f"Cruise speed set to {v_cruise_kph} (carrot command)")
+
     return v_cruise_kph, button_type, long_pressed
 
   def _update_cruise_buttons(self, CS, CC, v_cruise_kph):
@@ -512,7 +512,11 @@ class VCruiseCarrot:
         v_cruise_kph = button_kph
         self._v_cruise_kph_at_brake = 0
       elif button_type == ButtonType.gapAdjustCruise:
-        self.params.put_int_nonblocking("MyDrivingMode", self.params.get_int("MyDrivingMode") % 4 + 1) # 1,2,3,4 (1:eco, 2:safe, 3:normal, 4:high speed)
+        current_speed_mode = self.params.get_int("SpeedFromPCM")
+        new_speed_mode = (current_speed_mode + 1) % 3
+        self.params.put_int_nonblocking("SpeedFromPCM", new_speed_mode)
+        self._add_log(f"SpeedFromPCM changed to {new_speed_mode}")
+        #self.params.put_int_nonblocking("MyDrivingMode", self.params.get_int("MyDrivingMode") % 4 + 1) # 1,2,3,4 (1:eco, 2:safe, 3:normal, 4:high speed)
       elif button_type == ButtonType.lfaButton:
         useLaneLineSpeed = max(1, self.useLaneLineSpeed)
         self.params.put_int_nonblocking("UseLaneLineSpeedApply", useLaneLineSpeed if self.params.get_int("UseLaneLineSpeedApply") == 0 else 0)