Force Drive State

system/hardware/hardwared.py

@@ -352,6 +352,8 @@ def hardware_thread(end_event, hw_queue) -> None:
       should_start = should_start and all(startup_conditions.values())
 
     # FrogPilot variables
+    should_start |= frogpilot_toggles.force_onroad
+    should_start &= not frogpilot_toggles.force_offroad
 
     if should_start != should_start_prev or (count == 0):
       params.put_bool("IsEngaged", False)

system/manager/manager.py

@@ -155,7 +155,7 @@ def manager_thread() -> None:
 
     started = sm['deviceState'].started
 
-    if started and not started_prev:
+    if started and not started_prev and not frogpilot_toggles.force_onroad:
       params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
 
       # FrogPilot variables