      CC.enabled = self.enabled
      CC.actuators = actuators
  
      CC.cruiseControl.override = True
      CC.cruiseControl.cancel = not self.CP.enableCruise or (not self.enabled and CS.cruiseState.enabled)
      if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
        CC.cruiseControl.cancel = True
  
      # TODO remove car specific stuff in controls
      # Some override values for Honda
 
</s> remove     CC.cruiseControl.speedOverride = float(speed_override if self.CP.enableCruise else 0.0)
 </s> add     CC.cruiseControl.speedOverride = float(speed_override if self.CP.pcmCruise else 0.0) </s> remove     elif self.CP.enableCruise and CS.cruiseState.enabled:
 </s> add     elif self.CP.pcmCruise and CS.cruiseState.enabled: </s> remove     if self.CP.enableCruise and not ret.cruiseState.enabled \
 </s> add     if self.CP.pcmCruise and not ret.cruiseState.enabled \ </s> remove     if not self.CP.enableCruise:
 </s> add     if not self.CP.pcmCruise: </s> remove     # stock ACC by default
    ret.enableCruise = True
    ret.minEnableSpeed = -1.  # enable is done by stock ACC, so ignore this
 </s> add     ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
    ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
    CC.cruiseControl.cancel = not self.CP.pcmCruise or (not self.enabled and CS.cruiseState.enabled)
      CC.enabled = self.enabled
      CC.actuators = actuators
  
      CC.cruiseControl.override = True
    CC.cruiseControl.cancel = not self.CP.pcmCruise or (not self.enabled and CS.cruiseState.enabled)
      if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
        CC.cruiseControl.cancel = True
  
      # TODO remove car specific stuff in controls
      # Some override values for Honda
keep keep keep keep replace keep keep keep keep keep
 rename enableCruise -> pcmCruise (#21546) 
selfdrive/controls/controlsd.py