      # Some override values for Honda
      # brake discount removes a sharp nonlinearity
      brake_discount = (1.0 - clip(actuators.brake * 3., 0.0, 1.0))
      speed_override = max(0.0, (self.LoC.v_pid + CS.cruiseState.speedOffset) * brake_discount)
      CC.cruiseControl.speedOverride = float(speed_override if self.CP.enableCruise else 0.0)
      CC.cruiseControl.accelOverride = float(self.CI.calc_accel_override(CS.aEgo, self.a_target,
                                                                         CS.vEgo, self.v_target))
  
      CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
      CC.hudControl.speedVisible = self.enabled
 
</s> remove     CC.cruiseControl.cancel = not self.CP.enableCruise or (not self.enabled and CS.cruiseState.enabled)
 </s> add     CC.cruiseControl.cancel = not self.CP.pcmCruise or (not self.enabled and CS.cruiseState.enabled) </s> remove     elif self.CP.enableCruise and CS.cruiseState.enabled:
 </s> add     elif self.CP.pcmCruise and CS.cruiseState.enabled: </s> remove     if not self.CP.enableCruise:
 </s> add     if not self.CP.pcmCruise: </s> remove     ret.gasMaxV = [.5]  # half max brake
 </s> add     ret.gasMaxV = [.5]       # half max brake </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.speedOverride = float(speed_override if self.CP.pcmCruise else 0.0)
      # Some override values for Honda
      # brake discount removes a sharp nonlinearity
      brake_discount = (1.0 - clip(actuators.brake * 3., 0.0, 1.0))
      speed_override = max(0.0, (self.LoC.v_pid + CS.cruiseState.speedOffset) * brake_discount)
    CC.cruiseControl.speedOverride = float(speed_override if self.CP.pcmCruise else 0.0)
      CC.cruiseControl.accelOverride = float(self.CI.calc_accel_override(CS.aEgo, self.a_target,
                                                                         CS.vEgo, self.v_target))
  
      CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
      CC.hudControl.speedVisible = self.enabled
keep keep keep keep replace keep keep keep keep keep
 rename enableCruise -> pcmCruise (#21546) 
selfdrive/controls/controlsd.py