Experimental Mode activation via steering wheel / onroad UI

Added toggles to control the current state of  "Experimental Mode" from either the LKAS/distance buttons or the screen.

cereal/custom.capnp

@@ -13,6 +13,11 @@ struct FrogPilotCarControl @0x81c2f05a394cf4af {
 }
 
 struct FrogPilotCarState @0xaedffd8f31e7b55d {
+  struct ButtonEvent {
+    enum Type {
+      lkas @0;
+    }
+  }
 }
 
 struct FrogPilotDeviceState @0xf35cc4560bbf6ec2 {

common/params.cc

@@ -255,10 +255,15 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisableOnroadUploads", PERSISTENT},
     {"DisableOpenpilotLongitudinal", PERSISTENT},
     {"DisengageVolume", PERSISTENT},
+    {"DistanceLongPressed", PERSISTENT},
     {"DragonPilotTune", PERSISTENT},
     {"DriverCamera", PERSISTENT},
     {"DynamicPathWidth", PERSISTENT},
     {"EngageVolume", PERSISTENT},
+    {"ExperimentalModeActivation", PERSISTENT},
+    {"ExperimentalModeViaDistance", PERSISTENT},
+    {"ExperimentalModeViaLKAS", PERSISTENT},
+    {"ExperimentalModeViaTap", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},
     {"FrogsGoMoo", PERSISTENT},
     {"GoatScream", PERSISTENT},

opendbc/hyundai_canfd.dbc

@@ -316,7 +316,7 @@ BO_ 441 CAM_0x1b9: 32 CAMERA
 
 BO_ 463 CRUISE_BUTTONS: 8 XXX
  SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX
- SG_ LKAS_BTN : 23|1@1+ (1,0) [0|1] "" XXX
+ SG_ LFA_BTN : 23|1@1+ (1,0) [0|1] "" XXX
  SG_ SET_ME_1 : 29|1@1+ (1,0) [0|1] "" XXX
  SG_ ADAPTIVE_CRUISE_MAIN_BTN : 19|1@1+ (1,0) [0|1] "" XXX
  SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX

panda/python/__init__.py

@@ -211,6 +211,7 @@ class Panda:
   FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
   FLAG_HYUNDAI_ALT_LIMITS = 64
   FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
+  FLAG_HYUNDAI_LFA_BTN = 256
 
   FLAG_TESLA_POWERTRAIN = 1
   FLAG_TESLA_LONG_CONTROL = 2

selfdrive/car/chrysler/carstate.py

@@ -101,6 +101,12 @@ class CarState(CarStateBase):
     self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
     self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
+    self.lkas_previously_enabled = self.lkas_enabled
+    if self.CP.carFingerprint in RAM_CARS:
+      self.lkas_enabled = cp.vl["Center_Stack_2"]["LKAS_Button"] or cp.vl["Center_Stack_1"]["LKAS_Button"]
+    else:
+      self.lkas_enabled = cp.vl["TRACTION_BUTTON"]["TOGGLE_LKAS"] == 1
+
     return ret
 
   @staticmethod

selfdrive/car/chrysler/interface.py

@@ -79,7 +79,10 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c, frogpilot_variables):
     ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = [
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     # events
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])

selfdrive/car/ford/carstate.py

@@ -106,6 +106,9 @@ class CarState(CarStateBase):
     self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"]
     self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"]
 
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
+
     return ret
 
   @staticmethod

selfdrive/car/ford/interface.py

@@ -63,7 +63,10 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c, frogpilot_variables):
     ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = [
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
     if not self.CS.vehicle_sensors_valid:

selfdrive/car/gm/carstate.py

@@ -160,6 +160,12 @@ class CarState(CarStateBase):
         ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
         ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
 
+    self.lkas_previously_enabled = self.lkas_enabled
+    if self.CP.carFingerprint in SDGM_CAR:
+      self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
+    else:
+      self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
+
     return ret
 
   @staticmethod

selfdrive/car/gm/interface.py

@@ -278,7 +278,8 @@ class CarInterface(CarInterfaceBase):
         *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
                               unpressed_btn=CruiseButtons.UNPRESS),
         *create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
-                              {1: ButtonType.gapAdjustCruise})
+                              {1: ButtonType.gapAdjustCruise}),
+        *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
       ]
 
     # The ECM allows enabling on falling edge of set, but only rising edge of resume

selfdrive/car/honda/carstate.py

@@ -267,6 +267,12 @@ class CarState(CarStateBase):
       ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
       ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
 
+    self.prev_distance_button = self.distance_button
+    self.distance_button = self.cruise_setting == 3
+
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = self.cruise_setting == 1
+
     return ret
 
   def get_can_parser(self, CP):

selfdrive/car/honda/interface.py

@@ -249,6 +249,7 @@ class CarInterface(CarInterfaceBase):
     ret.buttonEvents = [
       *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
       *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
     ]
 
     # events

selfdrive/car/hyundai/carstate.py

@@ -170,6 +170,13 @@ class CarState(CarStateBase):
     if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
       self.main_enabled = not self.main_enabled
 
+    self.prev_distance_button = self.distance_button
+    self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST
+
+    if self.CP.flags & HyundaiFlags.CAN_LFA_BTN:
+      self.lkas_previously_enabled = self.lkas_enabled
+      self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
+
     return ret
 
   def update_canfd(self, cp, cp_cam, frogpilot_variables):
@@ -255,6 +262,12 @@ class CarState(CarStateBase):
       self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
                                           else cp_cam.vl["CAM_0x2a4"])
 
+    self.prev_distance_button = self.distance_button
+    self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0
+
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = cp.vl[self.cruise_btns_msg_canfd]["LFA_BTN"]
+
     return ret
 
   def get_can_parser(self, CP):
@@ -304,6 +317,9 @@ class CarState(CarStateBase):
     else:
       messages.append(("LVR12", 100))
 
+    if CP.flags & HyundaiFlags.CAN_LFA_BTN:
+      messages.append(("BCM_PO_11", 50))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod

selfdrive/car/hyundai/interface.py

@@ -126,6 +126,10 @@ class CarInterface(CarInterfaceBase):
       if candidate in CAMERA_SCC_CAR:
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
+      if 0x391 in fingerprint[0]:
+        ret.flags |= HyundaiFlags.CAN_LFA_BTN.value
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LFA_BTN
+
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
     if ret.flags & HyundaiFlags.HYBRID:
@@ -157,7 +161,10 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
     if self.CS.CP.openpilotLongitudinalControl:
-      ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
+      ret.buttonEvents = [
+        *create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT),
+        *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+      ]
 
     # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
     # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons

selfdrive/car/hyundai/values.py

@@ -96,6 +96,7 @@ class HyundaiFlags(IntFlag):
 
   MIN_STEER_32_MPH = 2 ** 23
 
+  CAN_LFA_BTN = 2 ** 24
 
 class Footnote(Enum):
   CANFD = CarFootnote(

selfdrive/car/interfaces.py

@@ -108,8 +108,11 @@ class CarInterfaceBase(ABC):
     self.belowSteerSpeed_shown = False
     self.disable_belowSteerSpeed = False
     self.disable_resumeRequired = False
+    self.prev_distance_button = False
     self.resumeRequired_shown = False
 
+    self.gap_counter = 0
+
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_variables):
     if frogpilot_variables.sport_plus:
@@ -259,6 +262,10 @@ class CarInterfaceBase(ABC):
     if ret.cruiseState.speedCluster == 0:
       ret.cruiseState.speedCluster = ret.cruiseState.speed
 
+    distance_button = self.CS.distance_button or self.params_memory.get_bool("OnroadDistanceButtonPressed")
+    self.params_memory.put_bool("DistanceLongPressed", self.frogpilot_distance_functions(distance_button, self.prev_distance_button, frogpilot_variables))
+    self.prev_distance_button = distance_button
+
     # copy back for next iteration
     reader = ret.as_reader()
     if self.CS is not None:
@@ -343,6 +350,22 @@ class CarInterfaceBase(ABC):
 
     return events
 
+  def frogpilot_distance_functions(self, distance_button, prev_distance_button, frogpilot_variables):
+    if distance_button:
+      self.gap_counter += 1
+    elif not prev_distance_button:
+      self.gap_counter = 0
+
+    if self.gap_counter == CRUISE_LONG_PRESS * 1.5 and frogpilot_variables.experimental_mode_via_distance:
+      if frogpilot_variables.conditional_experimental_mode:
+        conditional_status = self.params_memory.get_int("CEStatus")
+        override_value = 0 if conditional_status in {1, 2, 3, 4, 5, 6} else 1 if conditional_status >= 7 else 2
+        self.params_memory.put_int("CEStatus", override_value)
+      else:
+        experimental_mode = self.params.get_bool("ExperimentalMode")
+        self.params.put_bool("ExperimentalMode", not experimental_mode)
+
+    return self.gap_counter >= CRUISE_LONG_PRESS
 
 class RadarInterfaceBase(ABC):
   def __init__(self, CP):
@@ -385,6 +408,12 @@ class CarStateBase(ABC):
     # FrogPilot variables
     self.params_memory = Params("/dev/shm/params")
 
+    self.lkas_enabled = False
+    self.lkas_previously_enabled = False
+
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
   def update_speed_kf(self, v_ego_raw):
     if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed
       self.v_ego_kf.set_x([[v_ego_raw], [0.0]])

selfdrive/car/mazda/carstate.py

@@ -110,6 +110,9 @@ class CarState(CarStateBase):
     self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
     ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
 
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = not self.lkas_disabled
+
     return ret
 
   @staticmethod

selfdrive/car/mazda/interface.py

@@ -36,7 +36,10 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
      # TODO: add button types for inc and dec
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = [
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     # events
     events = self.create_common_events(ret)

selfdrive/car/nissan/carstate.py

@@ -107,6 +107,7 @@ class CarState(CarStateBase):
     can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
+    self.lkas_previously_enabled = self.lkas_enabled
     if self.CP.carFingerprint == CAR.ALTIMA:
       self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
     else:

selfdrive/car/nissan/interface.py

@@ -33,7 +33,10 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c, frogpilot_variables):
     ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam, frogpilot_variables)
 
-    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ret.buttonEvents = [
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
 
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
 

selfdrive/car/subaru/carstate.py

@@ -125,6 +125,9 @@ class CarState(CarStateBase):
     if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
       self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
 
+    self.lkas_previously_enabled = self.lkas_enabled
+    self.lkas_enabled = cp_cam.vl["ES_LKAS_State"]["LKAS_Dash_State"]
+
     return ret
 
   @staticmethod
@@ -226,4 +229,3 @@ class CarState(CarStateBase):
       ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt)
-

selfdrive/car/subaru/interface.py

@@ -107,6 +107,10 @@ class CarInterface(CarInterfaceBase):
 
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_body, frogpilot_variables)
 
+    ret.buttonEvents = [
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
+
     ret.events = self.create_common_events(ret).to_msg()
 
     return ret

selfdrive/car/toyota/carstate.py

@@ -182,6 +182,11 @@ class CarState(CarStateBase):
       else:
         self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
 
+    if self.CP.carFingerprint != CAR.PRIUS_V:
+      self.lkas_previously_enabled = self.lkas_enabled
+      message_keys = ["LDA_ON_MESSAGE", "SET_ME_X02"]
+      self.lkas_enabled = any(self.lkas_hud.get(key) == 1 for key in message_keys)
+
     return ret
 
   @staticmethod

selfdrive/car/toyota/interface.py

@@ -206,7 +206,10 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
 
     if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
-      ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+      ret.buttonEvents = [
+        *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+        *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+      ]
 
     # events
     events = self.create_common_events(ret)

selfdrive/controls/controlsd.py

@@ -680,8 +680,9 @@ class Controls:
     # decrement personality on distance button press
     if self.CP.openpilotLongitudinalControl:
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
-        self.personality = (self.personality - 1) % 3
-        self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+        if not self.params_memory.get_bool("DistanceLongPressed"):
+          self.personality = (self.personality - 1) % 3
+          self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
 
     return CC, lac_log
 
@@ -903,6 +904,14 @@ class Controls:
     if self.CP.openpilotLongitudinalControl and self.frogpilot_variables.conditional_experimental_mode:
       self.experimental_mode = self.sm['frogpilotPlan'].conditionalExperimental
 
+    if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents) and self.experimental_mode_via_lkas:
+      if self.frogpilot_variables.conditional_experimental_mode:
+        conditional_status = self.params_memory.get_int("CEStatus")
+        override_value = 0 if conditional_status in {1, 2, 3, 4, 5, 6} else 3 if conditional_status >= 7 else 4
+        self.params_memory.put_int("CEStatus", override_value)
+      else:
+        self.params.put_bool_nonblocking("ExperimentalMode", not self.experimental_mode)
+
     fpcc_send = messaging.new_message('frogpilotCarControl')
     fpcc_send.valid = CS.canValid
     fpcc_send.frogpilotCarControl = self.FPCC
@@ -926,6 +935,10 @@ class Controls:
     device_management = self.params.get_bool("DeviceManagement")
     self.increase_thermal_limits = device_management and self.params.get_bool("IncreaseThermalLimits")
 
+    experimental_mode_activation = self.CP.openpilotLongitudinalControl and self.params.get_bool("ExperimentalModeActivation")
+    self.frogpilot_variables.experimental_mode_via_distance = experimental_mode_activation and self.params.get_bool("ExperimentalModeViaDistance")
+    self.experimental_mode_via_lkas = experimental_mode_activation and self.params.get_bool("ExperimentalModeViaLKAS")
+
     lateral_tune = self.params.get_bool("LateralTune")
 
     longitudinal_tune = self.CP.openpilotLongitudinalControl and self.params.get_bool("LongitudinalTune")

selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py

@@ -39,15 +39,21 @@ class ConditionalExperimentalMode:
     standstill = carState.standstill
     v_lead = lead.vLead
 
+    if self.experimental_mode_via_press and enabled:
+      overridden = self.params_memory.get_int("CEStatus")
+    else:
+      overridden = 0
+
     self.update_conditions(lead_distance, lead.status, modelData, road_curvature, standstill, t_follow, v_ego, v_lead)
 
     condition_met = self.check_conditions(carState, frogpilotNavigation, lead, modelData, standstill, v_ego) and enabled
-    if condition_met:
+    if condition_met and overridden not in {1, 3, 5} or overridden in {2, 4, 6}:
       self.experimental_mode = True
     else:
       self.experimental_mode = False
       self.status_value = 0
 
+    self.status_value = overridden if overridden in {1, 2, 3, 4, 5, 6} else self.status_value
     if self.status_value != self.previous_status_value:
       self.params_memory.put_int("CEStatus", self.status_value)
       self.previous_status_value = self.status_value
@@ -168,6 +174,8 @@ class ConditionalExperimentalMode:
     self.curves = self.params.get_bool("CECurves")
     self.curves_lead = self.curves and self.params.get_bool("CECurvesLead")
 
+    self.experimental_mode_via_press = self.params.get_bool("ExperimentalModeActivation")
+
     self.limit = self.params.get_int("CESpeed") * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
     self.limit_lead = self.params.get_int("CESpeedLead") * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
 

selfdrive/frogpilot/ui/qt/offroad/control_settings.cc

@@ -28,6 +28,11 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"LowVoltageShutdown", tr("Low Voltage Shutdown Threshold"), tr("Automatically shut the device down when your battery reaches a specific voltage level to prevent killing your battery."), ""},
     {"OfflineMode", tr("Offline Mode"), tr("Allow the device to be offline indefinitely."), ""},
 
+    {"ExperimentalModeActivation", tr("Experimental Mode Activation"), tr("Toggle Experimental Mode with either buttons on the steering wheel or the screen.\n\nOverrides 'Conditional Experimental Mode'."), "../assets/img_experimental_white.svg"},
+    {"ExperimentalModeViaLKAS", tr("Double Clicking the LKAS Button"), tr("Enable/disable 'Experimental Mode' by double clicking the 'LKAS' button on your steering wheel."), ""},
+    {"ExperimentalModeViaTap", tr("Double Tapping the Onroad UI"), tr("Enable/disable 'Experimental Mode' by double tapping the onroad UI within a 0.5 second time frame."), ""},
+    {"ExperimentalModeViaDistance", tr("Long Pressing the Distance Button"), tr("Enable/disable 'Experimental Mode' by holding down the 'distance' button on your steering wheel for 0.5 seconds."), ""},
+
     {"LateralTune", tr("Lateral Tuning"), tr("Modify openpilot's steering behavior."), "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
 
     {"LongitudinalTune", tr("Longitudinal Tuning"), tr("Modify openpilot's acceleration and braking behavior."), "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
@@ -162,6 +167,16 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     } else if (param == "LowVoltageShutdown") {
       toggle = new FrogPilotParamValueControl(param, title, desc, icon, 11.8, 12.5, std::map<int, QString>(), this, false, tr(" volts"), 1, 0.01);
 
+    } else if (param == "ExperimentalModeActivation") {
+      FrogPilotParamManageControl *experimentalModeActivationToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
+      QObject::connect(experimentalModeActivationToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
+        openParentToggle();
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(experimentalModeActivationKeys.find(key.c_str()) != experimentalModeActivationKeys.end());
+        }
+      });
+      toggle = experimentalModeActivationToggle;
+
     } else if (param == "LateralTune") {
       FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
       QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -367,7 +382,8 @@ void FrogPilotControlsPanel::hideToggles() {
   standardProfile->setVisible(false);
   relaxedProfile->setVisible(false);
 
-  std::set<QString> longitudinalKeys = {"ConditionalExperimental", "CustomPersonalities", "LongitudinalTune"};
+  std::set<QString> longitudinalKeys = {"ConditionalExperimental", "CustomPersonalities", "ExperimentalModeActivation",
+                                        "LongitudinalTune"};
 
   for (auto &[key, toggle] : toggles) {
     toggle->setVisible(false);

selfdrive/frogpilot/ui/qt/offroad/control_settings.h

@@ -34,7 +34,7 @@ private:
   std::set<QString> aolKeys = {"AlwaysOnLateralMain", "HideAOLStatusBar", "PauseAOLOnBrake"};
   std::set<QString> conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CENavigation", "CESignal", "CESlowerLead", "CEStopLights", "HideCEMStatusBar"};
   std::set<QString> deviceManagementKeys = {"DeviceShutdown", "IncreaseThermalLimits", "LowVoltageShutdown", "NoLogging", "NoUploads", "OfflineMode"};
-  std::set<QString> experimentalModeActivationKeys = {};
+  std::set<QString> experimentalModeActivationKeys = {"ExperimentalModeViaDistance", "ExperimentalModeViaLKAS", "ExperimentalModeViaTap"};
   std::set<QString> laneChangeKeys = {};
   std::set<QString> lateralTuneKeys = {};
   std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "DecelerationProfile"};

selfdrive/ui/qt/onroad.cc

@@ -6,6 +6,7 @@
 #include <memory>
 #include <sstream>
 
+#include <QApplication>
 #include <QDebug>
 #include <QMouseEvent>
 
@@ -66,6 +67,12 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->
   QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
   QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged);
+
+  QObject::connect(&clickTimer, &QTimer::timeout, this, [this]() {
+    clickTimer.stop();
+    QMouseEvent *event = new QMouseEvent(QEvent::MouseButtonPress, timeoutPoint, Qt::LeftButton, Qt::LeftButton, Qt::NoModifier);
+    QApplication::postEvent(this, event);
+  });
 }
 
 void OnroadWindow::updateState(const UIState &s) {
@@ -96,6 +103,25 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
   // FrogPilot clickable widgets
   bool widgetClicked = false;
 
+  // If the click wasn't for anything specific, change the value of "ExperimentalMode"
+  if (scene.experimental_mode_via_screen && e->pos() != timeoutPoint) {
+    if (clickTimer.isActive()) {
+      clickTimer.stop();
+
+      if (scene.conditional_experimental) {
+        int override_value = (scene.conditional_status >= 1 && scene.conditional_status <= 6) ? 0 : scene.conditional_status >= 7 ? 5 : 6;
+        paramsMemory.putIntNonBlocking("CEStatus", override_value);
+      } else {
+        bool experimentalMode = params.getBool("ExperimentalMode");
+        params.putBoolNonBlocking("ExperimentalMode", !experimentalMode);
+      }
+
+    } else {
+      clickTimer.start(500);
+    }
+    widgetClicked = true;
+  }
+
 #ifdef ENABLE_MAPS
   if (map != nullptr && !widgetClicked) {
     // Switch between map and sidebar when using navigate on openpilot
@@ -269,7 +295,12 @@ void ExperimentalButton::changeMode() {
   const auto cp = (*uiState()->sm)["carParams"].getCarParams();
   bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
   if (can_change) {
-    params.putBool("ExperimentalMode", !experimental_mode);
+    if (scene.conditional_experimental) {
+      int override_value = (scene.conditional_status >= 1 && scene.conditional_status <= 4) ? 0 : scene.conditional_status >= 5 ? 5 : 6;
+      paramsMemory.putIntNonBlocking("ConditionalStatus", override_value);
+    } else {
+      params.putBool("ExperimentalMode", !experimental_mode);
+    }
   }
 }
 
@@ -1160,6 +1191,20 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
     newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];
   }
 
+  QString distanceSuffix = tr(". Long press the \"distance\" button to revert");
+  QString lkasSuffix = tr(". Double press the \"LKAS\" button to revert");
+  QString screenSuffix = tr(". Double tap the screen to revert");
+
+  if (!alwaysOnLateralActive && !mapOpen && status != STATUS_DISENGAGED && !newStatus.isEmpty()) {
+    if (conditionalStatus == 1 || conditionalStatus == 2) {
+      newStatus += distanceSuffix;
+    } else if (conditionalStatus == 3 || conditionalStatus == 4) {
+      newStatus += lkasSuffix;
+    } else if (conditionalStatus == 5 || conditionalStatus == 6) {
+      newStatus += screenSuffix;
+    }
+  }
+
   if (newStatus != lastShownStatus) {
     displayStatusText = true;
     lastShownStatus = newStatus;

selfdrive/ui/qt/onroad.h

@@ -200,6 +200,9 @@ private:
   Params params;
   Params paramsMemory{"/dev/shm/params"};
 
+  QPoint timeoutPoint = QPoint(420, 69);
+  QTimer clickTimer;
+
 private slots:
   void offroadTransition(bool offroad);
   void primeChanged(bool prime);

selfdrive/ui/ui.cc

@@ -317,6 +317,8 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.custom_icons = custom_theme ? params.getInt("CustomIcons") : 0;
   scene.custom_signals = custom_theme ? params.getInt("CustomSignals") : 0;
 
+  scene.experimental_mode_via_screen = scene.longitudinal_control && params.getBool("ExperimentalModeActivation") && params.getBool("ExperimentalModeViaTap");
+
   scene.model_ui = params.getBool("ModelUI");
   scene.dynamic_path_width = scene.model_ui && params.getBool("DynamicPathWidth");
   scene.hide_lead_marker = scene.model_ui && params.getBool("HideLeadMarker");

selfdrive/ui/ui.h

@@ -183,6 +183,7 @@ typedef struct UIScene {
   bool dynamic_path_width;
   bool enabled;
   bool experimental_mode;
+  bool experimental_mode_via_screen;
   bool has_auto_tune;
   bool hide_lead_marker;
   bool lead_info;