From de55a3ebb011c01025a8d985764c38cf37a121ed Mon Sep 17 00:00:00 2001 From: FrogAi <91348155+FrogAi@users.noreply.github.com> Date: Wed, 19 Jun 2024 19:47:58 -0700 Subject: [PATCH] Controls - Always On Lateral Maintain openpilot lateral control when the brake or gas pedals are used. Deactivation occurs only through the 'Cruise Control' button. Lots of credit goes to "pfeiferj"! Couldn't of done it without him! https: //github.com/pfeiferj/openpilot Co-Authored-By: Jacob Pfeifer --- panda/board/safety.h | 19 +++++++++++++++---- panda/board/safety/safety_chrysler.h | 1 + panda/board/safety/safety_ford.h | 1 + panda/board/safety/safety_gm.h | 6 +++++- panda/board/safety/safety_honda.h | 3 ++- panda/board/safety/safety_hyundai_common.h | 4 ++++ panda/board/safety/safety_mazda.h | 1 + panda/board/safety/safety_nissan.h | 7 +++++++ panda/board/safety/safety_subaru.h | 1 + panda/board/safety/safety_subaru_preglobal.h | 1 + panda/board/safety/safety_tesla.h | 8 ++++++++ panda/board/safety/safety_toyota.h | 6 ++++++ panda/board/safety_declarations.h | 4 ++++ panda/python/__init__.py | 1 + selfdrive/car/card.py | 5 +++++ selfdrive/car/chrysler/carcontroller.py | 2 +- selfdrive/car/chrysler/chryslercan.py | 5 +++-- selfdrive/car/honda/carcontroller.py | 2 +- selfdrive/car/honda/hondacan.py | 4 ++-- selfdrive/car/hyundai/carcontroller.py | 6 +++--- selfdrive/car/hyundai/carstate.py | 13 +++++++++++-- selfdrive/car/hyundai/hyundaican.py | 8 ++++---- selfdrive/car/hyundai/hyundaicanfd.py | 6 +++--- selfdrive/car/nissan/carcontroller.py | 2 +- selfdrive/car/nissan/nissancan.py | 8 ++++---- selfdrive/car/subaru/carcontroller.py | 2 +- selfdrive/car/subaru/subarucan.py | 6 ++++-- selfdrive/car/toyota/carcontroller.py | 2 +- selfdrive/car/toyota/toyotacan.py | 8 ++++---- selfdrive/controls/controlsd.py | 14 ++++++++++++-- selfdrive/ui/qt/maps/map.cc | 2 +- selfdrive/ui/qt/offroad/settings.cc | 3 +++ selfdrive/ui/qt/onroad/alerts.cc | 4 +++- selfdrive/ui/qt/onroad/alerts.h | 3 +++ selfdrive/ui/qt/onroad/annotated_camera.cc | 10 ++++++++-- selfdrive/ui/qt/onroad/annotated_camera.h | 2 ++ selfdrive/ui/qt/onroad/buttons.cc | 2 +- selfdrive/ui/ui.cc | 6 ++++++ selfdrive/ui/ui.h | 4 ++++ 39 files changed, 148 insertions(+), 44 deletions(-) diff --git a/panda/board/safety.h b/panda/board/safety.h index 1516fac84..24ff77907 100644 --- a/panda/board/safety.h +++ b/panda/board/safety.h @@ -552,7 +552,13 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi bool violation = false; uint32_t ts = microsecond_timer_get(); + bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL); if (controls_allowed) { + // acc main must be on if controls are allowed + acc_main_on = controls_allowed; + } + + if (controls_allowed || aol_allowed) { // *** global torque limit check *** violation |= max_limit_check(desired_torque, limits.max_steer, -limits.max_steer); @@ -579,7 +585,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi } // no torque if controls is not allowed - if (!controls_allowed && (desired_torque != 0)) { + if (!(controls_allowed || aol_allowed) && (desired_torque != 0)) { violation = true; } @@ -621,7 +627,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi } // reset to 0 if either controls is not allowed or there's a violation - if (violation || !controls_allowed) { + if (violation || !(controls_allowed || aol_allowed)) { valid_steer_req_count = 0; invalid_steer_req_count = 0; desired_torque_last = 0; @@ -636,8 +642,13 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi // Safety checks for angle-based steering commands bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const SteeringLimits limits) { bool violation = false; + bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL); + if (controls_allowed) { + // acc main must be on if controls are allowed + acc_main_on = controls_allowed; + } - if (controls_allowed && steer_control_enabled) { + if ((controls_allowed || aol_allowed) && steer_control_enabled) { // convert floating point angle rate limits to integers in the scale of the desired angle on CAN, // add 1 to not false trigger the violation. also fudge the speed by 1 m/s so rate limits are // always slightly above openpilot's in case we read an updated speed in between angle commands @@ -680,7 +691,7 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const } // No angle control allowed when controls are not allowed - violation |= !controls_allowed && steer_control_enabled; + violation |= !(controls_allowed || aol_allowed) && steer_control_enabled; return violation; } diff --git a/panda/board/safety/safety_chrysler.h b/panda/board/safety/safety_chrysler.h index 60fac77bd..a1934a6c2 100644 --- a/panda/board/safety/safety_chrysler.h +++ b/panda/board/safety/safety_chrysler.h @@ -192,6 +192,7 @@ static void chrysler_rx_hook(const CANPacket_t *to_push) { // enter controls on rising edge of ACC, exit controls on ACC off const int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 2; if ((bus == das_3_bus) && (addr == chrysler_addrs->DAS_3)) { + acc_main_on = GET_BIT(to_push, 20U); bool cruise_engaged = GET_BIT(to_push, 21U); pcm_cruise_check(cruise_engaged); } diff --git a/panda/board/safety/safety_ford.h b/panda/board/safety/safety_ford.h index d6ee20803..e17cdf3cb 100644 --- a/panda/board/safety/safety_ford.h +++ b/panda/board/safety/safety_ford.h @@ -245,6 +245,7 @@ static void ford_rx_hook(const CANPacket_t *to_push) { // Signal: CcStat_D_Actl unsigned int cruise_state = GET_BYTE(to_push, 1) & 0x07U; + acc_main_on = (cruise_state == 3U) ||(cruise_state == 4U) || (cruise_state == 5U); bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U); pcm_cruise_check(cruise_engaged); } diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h index 426f1d9f6..c0aa8701d 100644 --- a/panda/board/safety/safety_gm.h +++ b/panda/board/safety/safety_gm.h @@ -143,7 +143,11 @@ static void gm_rx_hook(const CANPacket_t *to_push) { } if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) { - brake_pressed = GET_BIT(to_push, 40U); + brake_pressed = GET_BIT(to_push, 40U) != 0U; + } + + if (addr == 0xC9) { + acc_main_on = GET_BIT(to_push, 29U) != 0U; } if (addr == 0x1C4) { diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h index c6a907fbd..0e081e742 100644 --- a/panda/board/safety/safety_honda.h +++ b/panda/board/safety/safety_honda.h @@ -340,7 +340,8 @@ static bool honda_tx_hook(const CANPacket_t *to_send) { // STEER: safety check if ((addr == 0xE4) || (addr == 0x194)) { - if (!controls_allowed) { + bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS); + if (!(controls_allowed || aol_allowed)) { bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1); if (steer_applied) { tx = false; diff --git a/panda/board/safety/safety_hyundai_common.h b/panda/board/safety/safety_hyundai_common.h index 54ea0f024..f9ea3c7c7 100644 --- a/panda/board/safety/safety_hyundai_common.h +++ b/panda/board/safety/safety_hyundai_common.h @@ -63,6 +63,10 @@ void hyundai_common_cruise_state_check(const bool cruise_engaged) { } void hyundai_common_cruise_buttons_check(const int cruise_button, const bool main_button) { + if (main_button && main_button != cruise_main_prev) { + acc_main_on = !acc_main_on; + } + cruise_main_prev = main_button; if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) || main_button) { hyundai_last_button_interaction = 0U; } else { diff --git a/panda/board/safety/safety_mazda.h b/panda/board/safety/safety_mazda.h index ea4ce92d0..19e2dd120 100644 --- a/panda/board/safety/safety_mazda.h +++ b/panda/board/safety/safety_mazda.h @@ -52,6 +52,7 @@ static void mazda_rx_hook(const CANPacket_t *to_push) { // enter controls on rising edge of ACC, exit controls on ACC off if (addr == MAZDA_CRZ_CTRL) { + acc_main_on = GET_BIT(to_push, 17U); bool cruise_engaged = GET_BYTE(to_push, 0) & 0x8U; pcm_cruise_check(cruise_engaged); } diff --git a/panda/board/safety/safety_nissan.h b/panda/board/safety/safety_nissan.h index c2406260f..e33e933f8 100644 --- a/panda/board/safety/safety_nissan.h +++ b/panda/board/safety/safety_nissan.h @@ -21,6 +21,8 @@ const CanMsg NISSAN_TX_MSGS[] = { // Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model. RxCheck nissan_rx_checks[] = { + {.msg = {{0x1b6, 0, 8, .frequency = 100U}, + {0x1b6, 1, 8, .frequency = 100U}, { 0 }}}, // PRO_PILOT (100HZ) {.msg = {{0x2, 0, 5, .frequency = 100U}, {0x2, 1, 5, .frequency = 100U}, { 0 }}}, // STEER_ANGLE_SENSOR {.msg = {{0x285, 0, 8, .frequency = 50U}, @@ -64,11 +66,16 @@ static void nissan_rx_hook(const CANPacket_t *to_push) { UPDATE_VEHICLE_SPEED((right_rear + left_rear) / 2.0 * 0.005 / 3.6); } + if (addr == 0x1b6) { + acc_main_on = GET_BIT(to_push, 36U); + } + // X-Trail 0x15c, Leaf 0x239 if ((addr == 0x15c) || (addr == 0x239)) { if (addr == 0x15c){ gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3U)) > 3U; } else { + acc_main_on = GET_BIT(to_push, 17U); gas_pressed = GET_BYTE(to_push, 0) > 3U; } } diff --git a/panda/board/safety/safety_subaru.h b/panda/board/safety/safety_subaru.h index 581dc50b7..6cf7910ba 100644 --- a/panda/board/safety/safety_subaru.h +++ b/panda/board/safety/safety_subaru.h @@ -152,6 +152,7 @@ static void subaru_rx_hook(const CANPacket_t *to_push) { // enter controls on rising edge of ACC, exit controls on ACC off if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_main_bus)) { + acc_main_on = GET_BIT(to_push, 40U); bool cruise_engaged = GET_BIT(to_push, 41U); pcm_cruise_check(cruise_engaged); } diff --git a/panda/board/safety/safety_subaru_preglobal.h b/panda/board/safety/safety_subaru_preglobal.h index 1047814ac..7d44fb0c8 100644 --- a/panda/board/safety/safety_subaru_preglobal.h +++ b/panda/board/safety/safety_subaru_preglobal.h @@ -56,6 +56,7 @@ static void subaru_preglobal_rx_hook(const CANPacket_t *to_push) { // enter controls on rising edge of ACC, exit controls on ACC off if (addr == MSG_SUBARU_PG_CruiseControl) { + acc_main_on = GET_BIT(to_push, 48U); bool cruise_engaged = GET_BIT(to_push, 49U); pcm_cruise_check(cruise_engaged); } diff --git a/panda/board/safety/safety_tesla.h b/panda/board/safety/safety_tesla.h index 652161ff2..4c3a1575c 100644 --- a/panda/board/safety/safety_tesla.h +++ b/panda/board/safety/safety_tesla.h @@ -100,6 +100,14 @@ static void tesla_rx_hook(const CANPacket_t *to_push) { if(addr == (tesla_powertrain ? 0x256 : 0x368)) { // Cruise state int cruise_state = (GET_BYTE(to_push, 1) >> 4); + + acc_main_on = (cruise_state == 1) || // STANDBY + (cruise_state == 2) || // ENABLED + (cruise_state == 3) || // STANDSTILL + (cruise_state == 4) || // OVERRIDE + (cruise_state == 6) || // PRE_FAULT + (cruise_state == 7); // PRE_CANCEL + bool cruise_engaged = (cruise_state == 2) || // ENABLED (cruise_state == 3) || // STANDSTILL (cruise_state == 4) || // OVERRIDE diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h index 50c00b38a..e6d457afb 100644 --- a/panda/board/safety/safety_toyota.h +++ b/panda/board/safety/safety_toyota.h @@ -53,6 +53,7 @@ const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 805; {0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4}, /* DSU bus 1 */ \ {0x411, 0, 8}, /* PCS_HUD */ \ {0x750, 0, 8}, /* radar diagnostic address */ \ + {0x1D3, 0, 8}, \ const CanMsg TOYOTA_TX_MSGS[] = { TOYOTA_COMMON_TX_MSGS @@ -71,6 +72,7 @@ const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = { {.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}}, \ {.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}}, \ {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}}, \ + {.msg = {{0x1D3, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}}, \ {.msg = {{0x224, 0, 8, .check_checksum = false, .frequency = 40U}, \ {0x226, 0, 8, .check_checksum = false, .frequency = 40U}, { 0 }}}, \ @@ -177,6 +179,10 @@ static void toyota_rx_hook(const CANPacket_t *to_push) { } } + if (addr == 0x1D3) { + acc_main_on = GET_BIT(to_push, 15U); + } + // enter controls on rising edge of ACC, exit controls on ACC off // exit controls on rising edge of gas press if (addr == 0x1D2) { diff --git a/panda/board/safety_declarations.h b/panda/board/safety_declarations.h index 6df5b18f9..e9b5cbf55 100644 --- a/panda/board/safety_declarations.h +++ b/panda/board/safety_declarations.h @@ -224,6 +224,7 @@ struct sample_t vehicle_speed; bool vehicle_moving = false; bool acc_main_on = false; // referred to as "ACC off" in ISO 15622:2018 int cruise_button_prev = 0; +int cruise_main_prev = 0; bool safety_rx_checks_invalid = false; // for safety modes with torque steering control @@ -269,3 +270,6 @@ int alternative_experience = 0; uint32_t safety_mode_cnt = 0U; // allow 1s of transition timeout after relay changes state before assessing malfunctioning const uint32_t RELAY_TRNS_TIMEOUT = 1U; + +// Always on Lateral +#define ALT_EXP_ALWAYS_ON_LATERAL 32 diff --git a/panda/python/__init__.py b/panda/python/__init__.py index 5728cfad9..110d45f50 100644 --- a/panda/python/__init__.py +++ b/panda/python/__init__.py @@ -111,6 +111,7 @@ class ALTERNATIVE_EXPERIENCE: DISABLE_STOCK_AEB = 2 RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8 ALLOW_AEB = 16 + ALWAYS_ON_LATERAL = 32 class Panda: diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index c5e656e12..a668fd269 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -58,6 +58,11 @@ class Car: if not self.disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS + # FrogPilot alternative experiences + if self.params.get_bool("AlwaysOnLateral"): + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL + self.params.put_bool("AlwaysOnLateralSet", True) + openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 639e4a62f..1b954a252 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -43,7 +43,7 @@ class CarController(CarControllerBase): if self.frame % 25 == 0: if CS.lkas_car_model != -1: can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, - self.hud_count, CS.lkas_car_model, CS.auto_high_beam)) + self.hud_count, CS.lkas_car_model, CS.auto_high_beam, CC.latActive)) self.hud_count += 1 # steering diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index 05b4bcab1..56d14ebe3 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -4,7 +4,7 @@ from openpilot.selfdrive.car.chrysler.values import ChryslerFlags, RAM_CARS GearShifter = car.CarState.GearShifter VisualAlert = car.CarControl.HUDControl.VisualAlert -def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam): +def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam, lat_active): # LKAS_HUD - Controls what lane-keeping icon is displayed # == Color == @@ -27,7 +27,7 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au # 7 Normal # 6 lane departure place hands on wheel - color = 2 if lkas_active else 1 + color = 2 if lkas_active else 1 if lat_active else 0 lines = 3 if lkas_active else 0 alerts = 7 if lkas_active else 0 @@ -48,6 +48,7 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au if CP.carFingerprint in RAM_CARS: values['AUTO_HIGH_BEAM_ON'] = auto_high_beam + values['LKAS_DISABLED'] = 0 if lat_active else 1 return packer.make_can_msg("DAS_6", 0, values) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index ba228afc4..8a65c28a9 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -252,7 +252,7 @@ class CarController(CarControllerBase): if self.frame % 10 == 0: hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars) - can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud)) + can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud, CC.latActive)) if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH: self.speed = pcm_speed diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 656f18184..2b595e0e4 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -140,7 +140,7 @@ def create_bosch_supplemental_1(packer, CAN, car_fingerprint): return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values) -def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud): +def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud, lat_active): commands = [] radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl bus_lkas = get_lkas_cmd_bus(CAN, CP.carFingerprint, radar_disabled) @@ -175,7 +175,7 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_ lkas_hud_values = { 'SET_ME_X41': 0x41, 'STEERING_REQUIRED': hud.steer_required, - 'SOLID_LANES': hud.lanes_visible, + 'SOLID_LANES': lat_active, 'BEEP': 0, } diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 22927e544..61417cc62 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -118,7 +118,7 @@ class CarController(CarControllerBase): # LFA and HDA icons if self.frame % 5 == 0 and (not hda2 or hda2_long): - can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled)) + can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive)) # blinkers if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: @@ -149,11 +149,11 @@ class CarController(CarControllerBase): use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), hud_control, set_speed_in_units, stopping, - CC.cruiseControl.override, use_fca)) + CC.cruiseControl.override, use_fca, CS.out.cruiseState.available)) # 20 Hz LFA MFA message if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value: - can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled)) + can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, CC.latActive)) # 5 Hz ACC options if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl: diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 3c817db8a..0f40cdd49 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -52,6 +52,9 @@ class CarState(CarStateBase): self.params = CarControllerParams(CP) + # FrogPilot variables + self.main_enabled = False + def update(self, cp, cp_cam, frogpilot_toggles): if self.CP.carFingerprint in CANFD_CAR: return self.update_canfd(cp, cp_cam, frogpilot_toggles) @@ -103,7 +106,7 @@ class CarState(CarStateBase): # cruise state if self.CP.openpilotLongitudinalControl: # These are not used for engage/disengage since openpilot keeps track of state using the buttons - ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0 + ret.cruiseState.available = self.main_enabled ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1 ret.cruiseState.standstill = False ret.cruiseState.nonAdaptive = False @@ -164,7 +167,10 @@ class CarState(CarStateBase): self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE self.prev_cruise_buttons = self.cruise_buttons[-1] self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"]) + self.prev_main_buttons = self.main_buttons[-1] self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"]) + if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0: + self.main_enabled = not self.main_enabled return ret, fp_ret @@ -220,7 +226,7 @@ class CarState(CarStateBase): # cruise state # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement - ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0 + ret.cruiseState.available = self.main_enabled if self.CP.openpilotLongitudinalControl: # These are not used for engage/disengage since openpilot keeps track of state using the buttons ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1 @@ -241,7 +247,10 @@ class CarState(CarStateBase): self.prev_cruise_buttons = self.cruise_buttons[-1] self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"]) + self.prev_main_buttons = self.main_buttons[-1] self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"]) + if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0: + self.main_enabled = not self.main_enabled self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"] ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index b4b951f89..81ff568a6 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -117,20 +117,20 @@ def create_clu11(packer, frame, clu11, button, CP): return packer.make_can_msg("CLU11", bus, values) -def create_lfahda_mfc(packer, enabled, hda_set_speed=0): +def create_lfahda_mfc(packer, enabled, lat_active, hda_set_speed=0): values = { - "LFA_Icon_State": 2 if enabled else 0, + "LFA_Icon_State": 2 if lat_active else 0, "HDA_Active": 1 if hda_set_speed else 0, "HDA_Icon_State": 2 if hda_set_speed else 0, "HDA_VSetReq": hda_set_speed, } return packer.make_can_msg("LFAHDA_MFC", 0, values) -def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca): +def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, cruise_available): commands = [] scc11_values = { - "MainMode_ACC": 1, + "MainMode_ACC": 1 if cruise_available else 0, "TauGapSet": hud_control.leadDistanceBars, "VSetDis": set_speed if enabled else 0, "AliveCounterACC": idx % 0x10, diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 54804f94f..c26c42c02 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -41,7 +41,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer): values = { "LKA_MODE": 2, - "LKA_ICON": 2 if enabled else 1, + "LKA_ICON": 2 if enabled else 1 if lat_active else 0, # HDA2 "TORQUE_REQUEST": apply_steer, "LKA_ASSIST": 0, "STEER_REQ": 1 if lat_active else 0, @@ -113,10 +113,10 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy): }) return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values) -def create_lfahda_cluster(packer, CAN, enabled): +def create_lfahda_cluster(packer, CAN, enabled, lat_active): values = { "HDA_ICON": 1 if enabled else 0, - "LFA_ICON": 2 if enabled else 0, + "LFA_ICON": 2 if enabled else 1 if lat_active else 0, # HDA1 } return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values) diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 2c3cd3faa..187010961 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -68,7 +68,7 @@ class CarController(CarControllerBase): if self.CP.carFingerprint != CAR.NISSAN_ALTIMA: if self.frame % 2 == 0: can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, - hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.latActive)) if self.frame % 50 == 0: can_sends.append(nissancan.create_lkas_hud_info_msg( diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py index b9a1b4f84..676ed89bf 100644 --- a/selfdrive/car/nissan/nissancan.py +++ b/selfdrive/car/nissan/nissancan.py @@ -65,7 +65,7 @@ def create_cancel_msg(packer, cancel_msg, cruise_cancel): return packer.make_can_msg("CANCEL_MSG", 2, values) -def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart): +def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart, lat_active): values = {s: lkas_hud_msg[s] for s in [ "LARGE_WARNING_FLASHING", "SIDE_RADAR_ERROR_FLASHING1", @@ -98,9 +98,9 @@ def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, le values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0 values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0 - values["LARGE_STEERING_WHEEL_ICON"] = 2 if enabled else 0 - values["RIGHT_LANE_GREEN"] = 1 if right_line and enabled else 0 - values["LEFT_LANE_GREEN"] = 1 if left_line and enabled else 0 + values["LARGE_STEERING_WHEEL_ICON"] = 2 if lat_active else 0 + values["RIGHT_LANE_GREEN"] = 1 if right_line and lat_active else 0 + values["LEFT_LANE_GREEN"] = 1 if left_line and lat_active else 0 return packer.make_can_msg("PROPILOT_HUD", 0, values) diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 6b935cbc8..b6239366c 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -100,7 +100,7 @@ class CarController(CarControllerBase): can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, - hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.latActive)) if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert)) diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 86d39ff88..4036d7c61 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -66,7 +66,7 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long return packer.make_can_msg("ES_Distance", bus, values) -def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): +def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart, lat_active): values = {s: es_lkas_state_msg[s] for s in [ "CHECKSUM", "LKAS_Alert_Msg", @@ -118,9 +118,11 @@ def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert elif right_lane_depart: values["LKAS_Alert"] = 11 # Right lane departure dash alert - if enabled: + if lat_active: values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines values["LKAS_Dash_State"] = 2 # Green enabled indicator + values["LKAS_Left_Line_Enable"] = 1 + values["LKAS_Right_Line_Enable"] = 1 else: values["LKAS_Dash_State"] = 0 # LKAS Not enabled diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 53bcfaf4a..2fb528b06 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -181,7 +181,7 @@ class CarController(CarControllerBase): if self.frame % 20 == 0 or send_ui: can_sends.append(toyotacan.create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, - hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) + hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud, lat_active)) if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value): can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert)) diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index f84dd9949..0c2f936b2 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -73,13 +73,13 @@ def create_fcw_command(packer, fcw): return packer.make_can_msg("PCS_HUD", 0, values) -def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud): +def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud, lat_active): values = { "TWO_BEEPS": chime, "LDA_ALERT": steer, - "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2, - "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2, - "BARRIERS": 1 if enabled else 0, + "RIGHT_LINE": 0 if not lat_active else 3 if right_lane_depart else 1 if right_line else 2, + "LEFT_LINE": 0 if not lat_active else 3 if left_lane_depart else 1 if left_line else 2, + "BARRIERS": 1 if lat_active else 0, # static signals "SET_ME_X02": 2, diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 2bbe65062..fb297f8f0 100644 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -52,6 +52,7 @@ LaneChangeState = log.LaneChangeState LaneChangeDirection = log.LaneChangeDirection EventName = car.CarEvent.EventName ButtonType = car.CarState.ButtonEvent.Type +GearShifter = car.CarState.GearShifter SafetyModel = car.CarParams.SafetyModel IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput) @@ -187,6 +188,7 @@ class Controls: self.total_kilometers = self.params_tracking.get_float("FrogPilotKilometers") self.total_minutes = self.params_tracking.get_float("FrogPilotMinutes") + self.always_on_lateral_active = False self.drive_added = False self.openpilot_crashed_triggered = False self.update_toggles = False @@ -541,7 +543,7 @@ class Controls: # Check if openpilot is engaged and actuators are enabled self.enabled = self.state in ENABLED_STATES self.active = self.state in ACTIVE_STATES - if self.active: + if self.active or self.always_on_lateral_active: self.current_alert_types.append(ET.WARNING) def state_control(self, CS): @@ -568,7 +570,7 @@ class Controls: # Check which actuators can be enabled standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill - CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ + CC.latActive = (self.active or self.always_on_lateral_active) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ (not standstill or self.joystick_mode) CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl @@ -891,6 +893,13 @@ class Controls: self.openpilot_crashed_triggered = True def update_frogpilot_variables(self, CS): + driving_gear = CS.gearShifter not in (GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown) + + self.always_on_lateral_active |= self.frogpilot_toggles.always_on_lateral_main or CS.cruiseState.enabled + self.always_on_lateral_active &= self.frogpilot_toggles.always_on_lateral and CS.cruiseState.available + self.always_on_lateral_active &= driving_gear + self.always_on_lateral_active &= not (CS.brakePressed and CS.vEgo < self.frogpilot_toggles.always_on_lateral_pause_speed) or CS.standstill + self.drive_distance += CS.vEgo * DT_CTRL self.drive_time += DT_CTRL @@ -909,6 +918,7 @@ class Controls: self.drive_added = True FPCC = custom.FrogPilotCarControl.new_message() + FPCC.alwaysOnLateral = self.always_on_lateral_active return FPCC diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index b0efab38d..04a5a4cbd 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -174,7 +174,7 @@ void MapWindow::updateState(const UIState &s) { if (sm.updated("modelV2")) { // set path color on change, and show map on rising edge of navigate on openpilot bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() && - sm["controlsState"].getControlsState().getEnabled(); + (sm["controlsState"].getControlsState().getEnabled() || sm["frogpilotCarControl"].getFrogpilotCarControl().getAlwaysOnLateral()); if (nav_enabled != uiState()->scene.navigate_on_openpilot) { if (loaded_once) { m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled)); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index d7a15e4e5..933a49ae0 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -150,6 +150,9 @@ void TogglesPanel::showEvent(QShowEvent *event) { } void TogglesPanel::updateToggles() { + auto disengage_on_accelerator_toggle = toggles["DisengageOnAccelerator"]; + disengage_on_accelerator_toggle->setVisible(!params.getBool("AlwaysOnLateral")); + auto experimental_mode_toggle = toggles["ExperimentalMode"]; auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"]; const QString e2e_description = QString("%1
" diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc index 4d05451a1..10d484aa6 100644 --- a/selfdrive/ui/qt/onroad/alerts.cc +++ b/selfdrive/ui/qt/onroad/alerts.cc @@ -14,6 +14,8 @@ void OnroadAlerts::updateState(const UIState &s) { // FrogPilot variables const UIScene &scene = s.scene; + + showAOLStatusBar = scene.show_aol_status_bar; } void OnroadAlerts::clear() { @@ -70,7 +72,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { int margin = 40; int radius = 30; - int offset = true ? 25 : 0; + int offset = showAOLStatusBar ? 25 : 0; if (alert.size == cereal::ControlsState::AlertSize::FULL) { margin = 0; radius = 0; diff --git a/selfdrive/ui/qt/onroad/alerts.h b/selfdrive/ui/qt/onroad/alerts.h index 569c4b413..7672ba663 100644 --- a/selfdrive/ui/qt/onroad/alerts.h +++ b/selfdrive/ui/qt/onroad/alerts.h @@ -39,4 +39,7 @@ protected: QColor bg; Alert alert = {}; + + // FrogPilot variables + bool showAOLStatusBar; }; diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc index 9720fd377..180813f66 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/qt/onroad/annotated_camera.cc @@ -287,7 +287,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) if (rightHandDM && map_settings_btn->isEnabled()) { x -= 250; } - offset += true ? 25 : 0; + offset += showAlwaysOnLateralStatusBar ? 25 : 0; int y = height() - offset; float opacity = dmActive ? 0.65 : 0.2; drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity); @@ -495,7 +495,9 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &painter, const UISce alertSize = scene.alert_size; - if (true) { + alwaysOnLateralActive = scene.always_on_lateral_active; + showAlwaysOnLateralStatusBar = scene.show_aol_status_bar; + if (showAlwaysOnLateralStatusBar) { drawStatusBar(painter); } @@ -529,6 +531,10 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) { p.setOpacity(1.0); p.drawRoundedRect(statusBarRect, 30, 30); + if (alwaysOnLateralActive && showAlwaysOnLateralStatusBar) { + newStatus = tr("Always On Lateral active") + (mapOpen ? "" : tr(". Press the \"Cruise Control\" button to disable")); + } + if (newStatus != lastShownStatus) { lastShownStatus = newStatus; displayStatusText = true; diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h index ce949e518..89ba14c0a 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.h +++ b/selfdrive/ui/qt/onroad/annotated_camera.h @@ -52,8 +52,10 @@ private: QHBoxLayout *bottom_layout; + bool alwaysOnLateralActive; bool experimentalMode; bool mapOpen; + bool showAlwaysOnLateralStatusBar; float accelerationConversion; float distanceConversion; diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc index c1653e4d9..177b9b92d 100644 --- a/selfdrive/ui/qt/onroad/buttons.cc +++ b/selfdrive/ui/qt/onroad/buttons.cc @@ -34,7 +34,7 @@ void ExperimentalButton::changeMode() { void ExperimentalButton::updateState(const UIState &s) { const auto cs = (*s.sm)["controlsState"].getControlsState(); - bool eng = cs.getEngageable() || cs.getEnabled(); + bool eng = cs.getEngageable() || cs.getEnabled() || s.scene.always_on_lateral_active; if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) { engageable = eng; experimental_mode = cs.getExperimentalMode(); diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index df00bf26b..619848da7 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -221,6 +221,7 @@ static void update_state(UIState *s) { } if (sm.updated("frogpilotCarControl")) { auto frogpilotCarControl = sm["frogpilotCarControl"].getFrogpilotCarControl(); + scene.always_on_lateral_active = !scene.enabled && frogpilotCarControl.getAlwaysOnLateral(); } if (sm.updated("frogpilotCarState")) { auto frogpilotCarState = sm["frogpilotCarState"].getFrogpilotCarState(); @@ -269,6 +270,9 @@ void ui_update_frogpilot_params(UIState *s, Params ¶ms) { scene.longitudinal_control = hasLongitudinalControl(CP); } + bool always_on_lateral = params.getBool("AlwaysOnLateral"); + scene.show_aol_status_bar = always_on_lateral && !params.getBool("HideAOLStatusBar"); + scene.tethering_config = params.getInt("TetheringEnabled"); if (scene.tethering_config == 2) { WifiManager(s).setTetheringEnabled(true); @@ -281,6 +285,8 @@ void UIState::updateStatus() { auto state = controls_state.getState(); if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) { status = STATUS_OVERRIDE; + } else if (scene.always_on_lateral_active) { + status = STATUS_ALWAYS_ON_LATERAL_ACTIVE; } else { status = scene.enabled ? STATUS_ENGAGED : STATUS_DISENGAGED; } diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 414d2478a..0d27b0db1 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -56,6 +56,7 @@ typedef enum UIStatus { STATUS_ENGAGED, // FrogPilot statuses + STATUS_ALWAYS_ON_LATERAL_ACTIVE, STATUS_EXPERIMENTAL_MODE_ACTIVE, STATUS_NAVIGATION_ACTIVE, } UIStatus; @@ -77,6 +78,7 @@ const QColor bg_colors [] = { [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1), // FrogPilot colors + [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(0x0a, 0xba, 0xb5, 0xf1), [STATUS_EXPERIMENTAL_MODE_ACTIVE] = QColor(0xda, 0x6f, 0x25, 0xf1), [STATUS_NAVIGATION_ACTIVE] = QColor(0x31, 0xa1, 0xee, 0xf1), }; @@ -116,12 +118,14 @@ typedef struct UIScene { uint64_t started_frame; // FrogPilot variables + bool always_on_lateral_active; bool enabled; bool experimental_mode; bool map_open; bool online; bool parked; bool right_hand_drive; + bool show_aol_status_bar; bool tethering_enabled; int alert_size;