From a61c124f54a1ce758d6b2d2bb97ee38c796fd9c6 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Wed, 3 Jul 2024 22:19:27 -0700
Subject: [PATCH] Controls - Conditional Experimental Mode - Turn Signal When
 Below Highway Speeds

Switch to 'Experimental Mode' when using turn signals below highway speeds to help assist with turns.
---
 .../frogpilot/controls/lib/conditional_experimental_mode.py   | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py b/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py
index cf58dbe03..d37760eb2 100644
--- a/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py
+++ b/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py
@@ -36,6 +36,10 @@ class ConditionalExperimentalMode:
       self.status_value = 7 if tracking_lead else 8
       return True
 
+    if frogpilot_toggles.conditional_signal and v_ego < CITY_SPEED_LIMIT and (carState.leftBlinker or carState.rightBlinker):
+      self.status_value = 9
+      return True
+
     approaching_maneuver = modelData.navEnabled and (frogpilotNavigation.approachingIntersection or frogpilotNavigation.approachingTurn)
     if frogpilot_toggles.conditional_navigation and approaching_maneuver and (frogpilot_toggles.conditional_navigation_lead or not tracking_lead):
       self.status_value = 10 if frogpilotNavigation.approachingIntersection else 11