From d619bcf36006afc38429e63e7c95346a5cdb7984 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Tue, 18 Jun 2024 12:55:14 -0700
Subject: [PATCH] Controls - Lane Change Customizations - Nudgeless Lane Change

Enable lane changes without requiring manual steering input.
---
 selfdrive/controls/lib/desire_helper.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 77fe47107..dbf55fefa 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -79,6 +79,8 @@ class DesireHelper:
         if torque_applied:
           self.lane_change_wait_timer = frogpilot_toggles.lane_change_delay
 
+        torque_applied |= frogpilot_toggles.nudgeless
+
         blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
                               (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))