From 3c77fb947b6f2f926c6588e3a57f828992b91ed7 Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Mon, 1 Dec 2025 12:00:00 -0700
Subject: [PATCH] Custom minimum lane change speed

---
 selfdrive/controls/lib/desire_helper.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index c87427fbc..b7e4762fd 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -51,7 +51,7 @@ class DesireHelper:
   def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan, frogpilot_toggles):
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
-    below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
+    below_lane_change_speed = v_ego < frogpilot_toggles.minimum_lane_change_speed
 
     if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
       self.lane_change_state = LaneChangeState.off