From 65ff1b1a7009a07ff575d98d21eeca131037706c Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Sat, 8 Aug 2026 15:43:49 -0700
Subject: [PATCH] Track speed limit state independently of lookahead

---
 speed_limit.go | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/speed_limit.go b/speed_limit.go
index c3705cf..8fb93f5 100644
--- a/speed_limit.go
+++ b/speed_limit.go
@@ -88,17 +88,18 @@ func (s *SpeedLimitState) SpeedLimitFinalSuggestion(enableSpeedActive bool, setS
 }
 
 func (s *SpeedLimitState) SuggestNewSpeedLimit(currentWay CurrentWay, car CarState) float32 {
-	slSuggestedSpeed := ms.Settings.PrioritySpeedLimit(float32(currentWay.EffectiveMaxSpeed()))
-	if slSuggestedSpeed == 0 && ms.Settings.SpeedLimitSettings.HoldLastSeenSpeedLimit {
-		slSuggestedSpeed = float32(s.Limit.LastValue)
+	s.Limit.Update(ms.Settings.PrioritySpeedLimit(float32(currentWay.EffectiveMaxSpeed())))
+	currentLimit := s.Limit.Value
+	if currentLimit == 0 && ms.Settings.SpeedLimitSettings.HoldLastSeenSpeedLimit {
+		currentLimit = s.Limit.LastValue
 	}
+	slSuggestedSpeed := currentLimit
 	if slSuggestedSpeed > 0 {
 		slSuggestedSpeed += ms.Settings.SpeedLimitSettings.SpeedLimitOffset
 	}
 	if s.NextLimit.Value > 0 {
 		offsetNextSpeedLimit := s.NextLimit.Value + ms.Settings.SpeedLimitSettings.SpeedLimitOffset
-		s.Limit.Update(ms.Settings.PrioritySpeedLimit(float32(currentWay.EffectiveMaxSpeed())))
-		nextIsLower := s.Limit.Value > s.NextLimit.Value
+		nextIsLower := currentLimit > s.NextLimit.Value
 		personality := ms.Settings.CurrentPersonality()
 		distanceToReachSpeed := m.CalculateJerkLimitedDistanceSimple(car.VEgo, car.AEgo, offsetNextSpeedLimit, personality.TargetSpeedAccel, personality.TargetSpeedJerk)
 		if nextIsLower {