  
      # if stock cruise is completely disabled, then we can use our own set speed logic
      if not self.CP.enableCruise:
        self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.buttonEvents, self.enabled)
      elif self.CP.enableCruise and CS.cruiseState.enabled:
        self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
  
      # decrease the soft disable timer at every step, as it's reset on
      # entrance in SOFT_DISABLING state
      self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
 
</s> remove     if not self.CP.enableCruise:
 </s> add     if not self.CP.pcmCruise: </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     # 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 </s> remove         if not self.CP.enableCruise:
 </s> add         if not self.CP.pcmCruise: </s> remove     if self.CP.enableCruise and not ret.cruiseState.enabled \
 </s> add     if self.CP.pcmCruise and not ret.cruiseState.enabled \
    elif self.CP.pcmCruise and CS.cruiseState.enabled:
  
      # if stock cruise is completely disabled, then we can use our own set speed logic
      if not self.CP.enableCruise:
        self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.buttonEvents, self.enabled)
    elif self.CP.pcmCruise and CS.cruiseState.enabled:
        self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
  
      # decrease the soft disable timer at every step, as it's reset on
      # entrance in SOFT_DISABLING state
      self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
keep keep keep keep replace keep keep keep keep keep
 rename enableCruise -> pcmCruise (#21546) 
selfdrive/controls/controlsd.py