From 44367399040f9abea8dfb66f5ff0cb70eec84072 Mon Sep 17 00:00:00 2001
From: Test User <test@example.com>
Date: Thu, 22 Jan 2026 17:45:59 -0600
Subject: [PATCH] Add new toggle options for Torque Interceptor, Radar
 Interceptor, No MRCC, No FSC, and Manual Transmission

---
 common/params_keys.h                          |  6 ++++
 selfdrive/ui/layouts/settings/toggles.py      | 35 +++++++++++++++++++
 selfdrive/ui/mici/layouts/settings/toggles.py | 15 ++++++++
 3 files changed, 56 insertions(+)

diff --git a/common/params_keys.h b/common/params_keys.h
index d6104e7497..1c7efe5cc4 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -129,4 +129,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"Version", {PERSISTENT, STRING}},
+    {"TorqueInterceptorEnabled", PERSISTENT, BOOL},
+    {"RadarInterceptorEnabled", PERSISTENT, BOOL},
+    {"NoMRCC", PERSISTENT, BOOL},
+    {"NoFSC", PERSISTENT, BOOL},
+    {"BlendedACC", PERSISTENT, BOOL},
+    {"ManualTransmission", PERSISTENT, BOOL},
 };
diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py
index 7fae2dfd24..78859d70a8 100644
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -31,6 +31,11 @@ DESCRIPTIONS = {
   'RecordFront': tr_noop("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
   "IsMetric": tr_noop("Display speed in km/h instead of mph."),
   "RecordAudio": tr_noop("Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."),
+  "TorqueInterceptorEnabled": tr_noop("Enable the torque interceptor to control the steering wheel."),
+  "RadarInterceptorEnabled": tr_noop("Enable if you have installed the radar Iterceptor."),
+  "NoMRCC": tr_noop("Enable if your car does not have stock MRCC."),
+  "NoFSC": tr_noop("Enable if your car does not have stock FSC."),
+  "ManualTransmission": tr_noop("Enable if your car has a manual transmission."),
 }
 
 
@@ -90,6 +95,36 @@ class TogglesLayout(Widget):
         "metric.png",
         False,
       ),
+      "TorqueInterceptorEnabled": (
+        lambda: tr("Enable Torque Interceptor"),
+        DESCRIPTIONS["TorqueInterceptorEnabled"],
+        "chffr_wheel.png",
+        True,
+      ),
+      "RadarInterceptorEnabled": (
+        lambda: tr("Enable Radar Interceptor"),
+        DESCRIPTIONS["RadarInterceptorEnabled"],
+        "chffr_wheel.png",
+        True,
+      ),
+      "NoMRCC": (
+        lambda: tr("Disable Stock MRCC"),
+        DESCRIPTIONS["NoMRCC"],
+        "chffr_wheel.png",
+        True,
+      ),
+      "NoFSC": (
+        lambda: tr("Disable Stock FSC"),
+        DESCRIPTIONS["NoFSC"],
+        "chffr_wheel.png",
+        True,
+      ),
+      "ManualTransmission": (
+        lambda: tr("Manual Transmission"),
+        DESCRIPTIONS["ManualTransmission"],
+        "chffr_wheel.png",
+        True,
+      ),
     }
 
     self._long_personality_setting = multiple_button_item(
diff --git a/selfdrive/ui/mici/layouts/settings/toggles.py b/selfdrive/ui/mici/layouts/settings/toggles.py
index c16504fac8..0772694513 100644
--- a/selfdrive/ui/mici/layouts/settings/toggles.py
+++ b/selfdrive/ui/mici/layouts/settings/toggles.py
@@ -25,6 +25,11 @@ class TogglesLayoutMici(NavWidget):
     record_front = BigParamControl("record & upload driver camera", "RecordFront", toggle_callback=restart_needed_callback)
     record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
     enable_openpilot = BigParamControl("enable openpilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
+    enable_torque_interceptor = BigParamControl("torque interceptor", "TorqueInterceptorEnabled", toggle_callback=restart_needed_callback)
+    enable_radar_interceptor = BigParamControl("radar interceptor", "RadarInterceptorEnabled", toggle_callback=restart_needed_callback)
+    enable_no_mrcc = BigParamControl("no stock MRCC", "NoMRCC", toggle_callback=restart_needed_callback)
+    enable_no_fsc = BigParamControl("no stock FSC", "NoFSC", toggle_callback=restart_needed_callback)
+    enable_manual_transmission = BigParamControl("manual transmission", "ManualTransmission", toggle_callback=restart_needed_callback)
 
     self._scroller = Scroller([
       self._personality_toggle,
@@ -35,6 +40,11 @@ class TogglesLayoutMici(NavWidget):
       record_front,
       record_mic,
       enable_openpilot,
+      enable_torque_interceptor,
+      enable_radar_interceptor,
+      enable_no_mrcc,
+      enable_no_fsc,
+      enable_manual_transmission,
     ], snap_items=False)
 
     # Toggle lists
@@ -46,6 +56,11 @@ class TogglesLayoutMici(NavWidget):
       ("RecordFront", record_front),
       ("RecordAudio", record_mic),
       ("OpenpilotEnabledToggle", enable_openpilot),
+      ("TorqueInterceptorEnabled", enable_torque_interceptor),
+      ("RadarInterceptorEnabled", enable_radar_interceptor),
+      ("NoMRCC", enable_no_mrcc),
+      ("NoFSC", enable_no_fsc),
+      ("ManualTransmission", enable_manual_transmission),
     )
 
     enable_openpilot.set_enabled(lambda: not ui_state.engaged)