Add CC Main and LKAS buttons to Wheel Controls

Clean up so all buttons are handled from wheel controls
2026-09-30 19:33:45 +08:00 · 2026-06-01 07:34:44 -05:00
parent 7f5e78fd8f
commit 45060a07b7
11 changed files with 131 additions and 46 deletions
@@ -223,6 +223,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"CustomPersonalities", {PERSISTENT, BOOL, "0", "0", 2}},
    {"CancelButtonControl", {PERSISTENT, INT, "1", "0", 2}},
    {"CancelButtonControlsMigrated", {PERSISTENT, BOOL, "0", "0"}},
+    {"AOLLKASMigratedToButtonControl", {PERSISTENT, BOOL, "0", "0"}},
    {"TrafficPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
    {"AggressivePersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
    {"StandardPersonalityProfile", {PERSISTENT, BOOL, "1", "1", 2}},
@@ -368,6 +369,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LongitudinalTune", {PERSISTENT, BOOL, "1", "0", 0}},
    {"LoudBlindspotAlert", {PERSISTENT, BOOL, "0", "0", 0}},
    {"LowVoltageShutdown", {PERSISTENT, FLOAT, "11.8", "11.8", 3}},
+    {"MainCruiseButtonControl", {PERSISTENT, INT, "9", "9", 2}},
    {"ManualUpdateInitiated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
    {"AMapKey1", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
    {"AMapKey2", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
@@ -243,7 +243,8 @@ class CarInterfaceBase(ABC):
        if hyundai_has_lda_button:
          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value

-        if params.get_bool("AlwaysOnLateral") and params.get_bool("AlwaysOnLateralLKAS"):
+        # LKASButtonControl == 9 means BUTTON_FUNCTIONS["AOL_TOGGLE"] in starpilot_variables.
+        if params.get_bool("AlwaysOnLateral") and params.get_int("LKASButtonControl") == 9:
          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
      elif platform in TOYOTA:
        fp_ret.canUsePedal = not CP.autoResumeSng
@@ -150,11 +150,6 @@ class StarPilotLateralLayout(_SettingsPage):
                   subtitle=tr_noop("Keep lateral control active even without openpilot engaged."),
                   get_state=lambda: self._params.get_bool("AlwaysOnLateral"),
                   set_state=lambda s: _confirm_reboot_toggle(self._params, "AlwaysOnLateral", s) if s else self._params.put_bool("AlwaysOnLateral", False)),
-        SettingRow("AlwaysOnLateralLKAS", "toggle", tr_noop("Enable With LKAS"),
-                   subtitle="",
-                   get_state=lambda: self._params.get_bool("AlwaysOnLateralLKAS"),
-                   set_state=lambda s: self._params.put_bool("AlwaysOnLateralLKAS", s),
-                   visible=lambda: self._params.get_bool("AlwaysOnLateral") and starpilot_state.car_state.lkasAllowedForAOL),
        SettingRow("PauseAOLOnBrake", "value", tr_noop("Pause Below"),
                   subtitle="",
                   get_value=lambda: f"{self._params.get_int('PauseAOLOnBrake')} mph",
@@ -49,6 +49,8 @@ ACTION_OPTIONS = [
  {"id": 6, "name": tr_noop("Toggle Traffic"), "requires_longitudinal": True},
  {"id": 7, "name": tr_noop("Toggle Switchback")},
  {"id": 8, "name": tr_noop("Create Bookmark")},
+  {"id": 9, "name": tr_noop("Toggle Always On Lateral")},
+  {"id": 10, "name": tr_noop("Adopt Current Speed Limit")},
 ]
 ACTION_NAMES = [o["name"] for o in ACTION_OPTIONS]
 ACTION_IDS = {o["name"]: o["id"] for o in ACTION_OPTIONS}
@@ -144,8 +146,8 @@ class VehicleSettingsManagerView(AetherInteractiveMixin, Widget):
      if cs.isHKGCanFd and cs.hasOpenpilotLongitudinal: count += 1
      return tr("{} settings").format(count)
    if tab_id == "controls":
-      count = 7
-      if not cs.isSubaru and not (cs.lkasAllowedForAOL and self._controller._params.get_bool("AlwaysOnLateral") and self._controller._params.get_bool("AlwaysOnLateralLKAS")):
+      count = 8
+      if not cs.isSubaru:
        count += 1
      if cs.hasModeStarButtons: count += 6
      return tr("{} buttons").format(count)
@@ -426,9 +428,11 @@ class VehicleSettingsManagerView(AetherInteractiveMixin, Widget):
      for key in ("CancelButtonControl", "LongCancelButtonControl", "VeryLongCancelButtonControl"):
        rows.append({"target_id": f"select:{key}", "type": "select", "title": tr(self._controller._action_title(key)),
                      "get_value": lambda k=key: self._controller._get_action_name(k), "pill_width": 140})
-    if not cs.isSubaru and not (cs.lkasAllowedForAOL and self._controller._params.get_bool("AlwaysOnLateral") and self._controller._params.get_bool("AlwaysOnLateralLKAS")):
+    if not cs.isSubaru:
      rows.append({"target_id": "select:LKASButtonControl", "type": "select", "title": tr("LKAS Button"),
                    "get_value": lambda: self._controller._get_action_name("LKASButtonControl"), "pill_width": 140})
+    rows.append({"target_id": "select:MainCruiseButtonControl", "type": "select", "title": tr("CC Main Button"),
+                  "get_value": lambda: self._controller._get_action_name("MainCruiseButtonControl"), "pill_width": 140})
    if cs.hasModeStarButtons:
      for key in ("ModeButtonControl", "LongModeButtonControl", "VeryLongModeButtonControl",
                   "StarButtonControl", "LongStarButtonControl", "VeryLongStarButtonControl"):
@@ -453,6 +457,7 @@ class StarPilotVehicleSettingsLayout(_SettingsPage):
      "VeryLongCancelButtonControl": "Cancel (Very Long)",
      "VeryLongDistanceButtonControl": "Distance (Very Long)",
      "LKASButtonControl": "LKAS Button",
+      "MainCruiseButtonControl": "CC Main Button",
      "ModeButtonControl": "Mode Button",
      "LongModeButtonControl": "Mode (Long Press)",
      "VeryLongModeButtonControl": "Mode (Very Long)",
@@ -468,7 +473,14 @@ class StarPilotVehicleSettingsLayout(_SettingsPage):

  def _get_available_actions(self, key: str | None = None) -> list[str]:
    cs = starpilot_state.car_state
-    return [tr(o["name"]) for o in ACTION_OPTIONS if cs.hasOpenpilotLongitudinal or not o.get("requires_longitudinal", False)]
+    if key == "MainCruiseButtonControl":
+      allowed_ids = {0, 9, 10}
+      return [tr(o["name"]) for o in ACTION_OPTIONS if o["id"] in allowed_ids]
+    allowed_ids = set(range(9))
+    if key == "LKASButtonControl" and cs.lkasAllowedForAOL:
+      allowed_ids.add(9)
+    return [tr(o["name"]) for o in ACTION_OPTIONS
+            if o["id"] in allowed_ids and (cs.hasOpenpilotLongitudinal or not o.get("requires_longitudinal", False))]

  def _on_toggle(self, param_key: str):
    if param_key == "DisableOpenpilotLongitudinal":
@@ -135,6 +135,8 @@ BUTTON_FUNCTIONS = {
  "TRAFFIC_MODE": 6,
  "SWITCHBACK_MODE": 7,
  "BOOKMARK": 8,
+  "AOL_TOGGLE": 9,
+  "SLC_ADOPT": 10,
 }

 CANCEL_BUTTON_MIGRATION_KEY = "CancelButtonControlsMigrated"
@@ -144,6 +146,8 @@ CANCEL_BUTTON_MAPPINGS = (
  ("VeryLongDistanceButtonControl", "VeryLongCancelButtonControl"),
 )

+AOL_LKAS_MIGRATION_KEY = "AOLLKASMigratedToButtonControl"
+
 DEVELOPER_SIDEBAR_METRICS = {
  "NONE": 0,
  "ACCELERATION_CURRENT": 1,
@@ -341,12 +345,26 @@ def migrate_cancel_button_controls(params: Params | None = None) -> bool:
  params.put_bool(CANCEL_BUTTON_MIGRATION_KEY, True)
  return True

+
+def migrate_aol_lkas_to_button_control(params: Params | None = None) -> bool:
+  params = params or Params(return_defaults=True)
+  if params.get_bool(AOL_LKAS_MIGRATION_KEY):
+    return False
+
+  if params.get_bool("AlwaysOnLateral") and params.get_bool("AlwaysOnLateralLKAS"):
+    params.put_int("LKASButtonControl", BUTTON_FUNCTIONS["AOL_TOGGLE"])
+
+  params.put_bool(AOL_LKAS_MIGRATION_KEY, True)
+  return True
+
+
 class StarPilotVariables:
  def __init__(self):
    self.params = Params(return_defaults=True)
    self.params_raw = Params()
    self.params_memory = Params(memory=True)
    migrate_cancel_button_controls(self.params)
+    migrate_aol_lkas_to_button_control(self.params)

    self.starpilot_toggles = SimpleNamespace()
    toggle = self.starpilot_toggles
@@ -665,10 +683,15 @@ class StarPilotVariables:
    toggle.warningImmediate_volume = max(self.get_value("WarningImmediateVolume", cast=float, condition=toggle.alert_volume_controller, default=25), 25)

    toggle.always_on_lateral = self.get_value("AlwaysOnLateral")
-    toggle.always_on_lateral_lkas = toggle.always_on_lateral and toggle.lkas_allowed_for_aol and self.get_value("AlwaysOnLateralLKAS")
+    lkas_button_assigned_to_aol = self.get_value("LKASButtonControl", cast=float) == BUTTON_FUNCTIONS["AOL_TOGGLE"]
+    toggle.always_on_lateral_lkas = toggle.always_on_lateral and toggle.lkas_allowed_for_aol and lkas_button_assigned_to_aol
    toggle.always_on_lateral_main = toggle.always_on_lateral and not prohibited_main_aol and not toggle.always_on_lateral_lkas
    toggle.always_on_lateral_pause_speed = self.get_value("PauseAOLOnBrake", cast=float, condition=toggle.always_on_lateral)

+    main_cruise_button_control = self.get_value("MainCruiseButtonControl", cast=float)
+    toggle.main_cruise_aol_toggle = main_cruise_button_control == BUTTON_FUNCTIONS["AOL_TOGGLE"]
+    toggle.main_cruise_slc_adopt = main_cruise_button_control == BUTTON_FUNCTIONS["SLC_ADOPT"]
+
    toggle.automatic_updates = self.get_value("AutomaticUpdates") and not BACKUP_PATH.is_file()

    car_model = normalize_legacy_car_model(self.params.get("CarModel"))
@@ -85,9 +85,6 @@ class StarPilotCard:

  def update(self, carState, starpilotCarState, sm, starpilot_toggles):
    self.switchback_mode_enabled = self.params_memory.get_bool("SwitchbackModeEnabled")
-    hyundai_main_cruise_can_toggle_aol = self.CP.brand == "hyundai" and starpilot_toggles.always_on_lateral and (
-      starpilot_toggles.always_on_lateral_lkas or starpilot_toggles.always_on_lateral_main
-    )

    if self.CP.brand == "hyundai" or starpilot_toggles.lkas_allowed_for_aol:
      for be in carState.buttonEvents:
@@ -96,12 +93,9 @@ class StarPilotCard:
          if carState.cruiseState.enabled or self.pause_lateral:
            self.pause_lateral = not self.always_on_lateral_allowed
        elif be.type == ButtonType.mainCruise and be.pressed:
-          # Hyundai owners use both the LKAS button and the cruise main button
-          # as AOL engage inputs. Keep the safety-derived LKAS capability while
-          # still honoring the cruise main button as a shared AOL toggle.
-          if hyundai_main_cruise_can_toggle_aol or starpilot_toggles.always_on_lateral_main:
+          if starpilot_toggles.main_cruise_aol_toggle or starpilot_toggles.always_on_lateral_main:
            self.always_on_lateral_allowed = not self.always_on_lateral_allowed
-          elif starpilot_toggles.speed_limit_controller:
+          elif starpilot_toggles.main_cruise_slc_adopt and starpilot_toggles.speed_limit_controller:
            self.params_memory.put_bool("SLCAdoptSpeedLimit", True)
    elif starpilot_toggles.always_on_lateral_main:
      if pacifica_hybrid_aol_requires_set_press(self.CP.carFingerprint, self.CP.pcmCruise):
@@ -55,6 +55,8 @@ def make_toggles(**overrides):
    "experimental_mode_via_lkas": False,
    "force_coast_via_lkas": False,
    "lkas_allowed_for_aol": False,
+    "main_cruise_aol_toggle": False,
+    "main_cruise_slc_adopt": False,
    "pause_lateral_via_lkas": False,
    "pause_longitudinal_via_lkas": False,
    "speed_limit_controller": False,
@@ -116,7 +118,7 @@ def test_hyundai_lkas_button_still_toggles_aol_with_cruise_button_events(monkeyp
  assert ret.pauseLateral is False


-def test_hyundai_main_cruise_button_toggles_aol_while_lkas_mode_is_enabled(monkeypatch, tmp_path):
+def test_hyundai_main_cruise_button_toggles_aol_when_assigned_to_aol(monkeypatch, tmp_path):
  monkeypatch.setattr(spc, "Params", FakeParams)
  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
@@ -126,7 +128,7 @@ def test_hyundai_main_cruise_button_toggles_aol_while_lkas_mode_is_enabled(monke
  car_state = make_car_state(button_events=[SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)])
  starpilot_car_state = SimpleNamespace(distancePressed=False)
  sm = make_sm()
-  toggles = make_toggles(always_on_lateral=True, always_on_lateral_lkas=True)
+  toggles = make_toggles(always_on_lateral=True, always_on_lateral_lkas=True, main_cruise_aol_toggle=True)

  ret = card.update(car_state, starpilot_car_state, sm, toggles)
  assert ret.alwaysOnLateralAllowed is True
@@ -135,6 +137,26 @@ def test_hyundai_main_cruise_button_toggles_aol_while_lkas_mode_is_enabled(monke
  assert ret.alwaysOnLateralAllowed is False


+def test_hyundai_main_cruise_button_adopts_slc_when_assigned_to_slc(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(SimpleNamespace(brand="hyundai"), SimpleNamespace(alternativeExperience=0))
+
+  car_state = make_car_state(button_events=[SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)])
+  starpilot_car_state = SimpleNamespace(distancePressed=False)
+  sm = make_sm()
+  toggles = make_toggles(always_on_lateral=True, always_on_lateral_lkas=True,
+                         main_cruise_slc_adopt=True, speed_limit_controller=True)
+
+  initial_allowed = card.always_on_lateral_allowed
+  card.update(car_state, starpilot_car_state, sm, toggles)
+
+  assert card.always_on_lateral_allowed is initial_allowed
+  assert card.params_memory.get_bool("SLCAdoptSpeedLimit") is True
+
+
 def test_honda_lkas_button_pauses_lateral_when_cruise_is_active(monkeypatch, tmp_path):
  monkeypatch.setattr(spc, "Params", FakeParams)
  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
@@ -97,14 +97,6 @@
        "ui_type": "toggle",
        "is_parent_toggle": true
      },
-      {
-        "key": "AlwaysOnLateralLKAS",
-        "label": "Enable With LKAS",
-        "description": "Enable \"Always On Lateral\" whenever \"LKAS\" is on, even when openpilot is not engaged.",
-        "data_type": "bool",
-        "ui_type": "toggle",
-        "parent_key": "AlwaysOnLateral"
-      },
      {
        "key": "PauseAOLOnBrake",
        "label": "Pause on Brake Press Below",
@@ -2693,6 +2685,31 @@
          {
            "value": 8,
            "label": "Create Bookmark"
+          },
+          {
+            "value": 9,
+            "label": "Toggle Always On Lateral"
+          }
+        ]
+      },
+      {
+        "key": "MainCruiseButtonControl",
+        "label": "CC Main Button",
+        "description": "Action performed when the cruise control main button is pressed.",
+        "data_type": "int",
+        "ui_type": "dropdown",
+        "options": [
+          {
+            "value": 0,
+            "label": "No Action"
+          },
+          {
+            "value": 9,
+            "label": "Toggle Always On Lateral"
+          },
+          {
+            "value": 10,
+            "label": "Adopt Current Speed Limit"
          }
        ]
      },
@@ -42,7 +42,6 @@ StarPilotLateralPanel::StarPilotLateralPanel(StarPilotSettingsWindow *parent, bo
    {"ForceTorqueController", tr("Force Torque Controller"), tr("<b>Use torque-based steering control instead of angle-based control for smoother lane keeping, especially in curves.</b>"), ""},

    {"AlwaysOnLateral", tr("Always On Lateral"), tr("<b>openpilot's steering remains active even when the accelerator or brake pedals are pressed.</b>"), "../../starpilot/assets/toggle_icons/icon_always_on_lateral.png"},
-    {"AlwaysOnLateralLKAS", tr("Enable With LKAS"), tr("<b>Enable \"Always On Lateral\" whenever \"LKAS\" is on, even when openpilot is not engaged.</b>"), ""},
    {"PauseAOLOnBrake", tr("Pause on Brake Press Below"), tr("<b>Pause \"Always On Lateral\" below the set speed while the brake pedal is pressed.</b>"), ""},

    {"LaneChanges", tr("Lane Changes"), tr("<b>Allow openpilot to change lanes.</b>"), "../../starpilot/assets/toggle_icons/icon_lane.png"},
@@ -358,11 +357,7 @@ void StarPilotLateralPanel::updateToggles() {
    bool setVisible = showAllToggles || parent->tuningLevel >= parent->starpilotToggleLevels[key].toDouble();

    if (!showAllToggles) {
-      if (key == "AlwaysOnLateralLKAS") {
-        setVisible &= parent->lkasAllowedForAOL;
-      }
-
-      else if (key == "ForceAutoTune") {
+      if (key == "ForceAutoTune") {
        setVisible &= !parent->hasAutoTune;
        setVisible &= !parent->isAngleCar;
        setVisible &= parent->isTorqueCar || forcingTorqueController || usingNNFF;
@@ -25,7 +25,7 @@ private:
  std::map<QString, AbstractControl*> toggles;

  QSet<QString> advancedLateralTuneKeys = {"ForceAutoTune", "ForceAutoTuneOff", "ForceTorqueController", "SteerDelay", "SteerFriction", "SteerLatAccel", "SteerKP", "SteerRatio"};
-  QSet<QString> aolKeys = {"AlwaysOnLateralLKAS", "PauseAOLOnBrake"};
+  QSet<QString> aolKeys = {"PauseAOLOnBrake"};
  QSet<QString> laneChangeKeys = {"LaneChangeSmoothing", "LaneChangeTime", "LaneDetectionWidth", "MinimumLaneChangeSpeed", "NudgelessLaneChange", "OneLaneChange"};
  QSet<QString> lateralTuneKeys = {"NNFF", "NNFFLite", "TurnDesires", "NavDesiresAllowed"};
  QSet<QString> qolKeys = {"PauseLateralSpeed", "LateralResumeDelay"};
@@ -30,8 +30,24 @@ QMap<int, QString> getMergedWheelFunctionsMap() {
  return functionsMap;
 }

-QString getWheelFunctionLabel(Params &params, const QString &key) {
-  const QMap<int, QString> functionsMap = getMergedWheelFunctionsMap();
+QMap<int, QString> getMainCruiseFunctionsMap() {
+  return {
+    {0, QObject::tr("No Action")},
+    {9, QObject::tr("Toggle Always On Lateral")},
+    {10, QObject::tr("Adopt Current Speed Limit")},
+  };
+}
+
+QString getWheelFunctionLabel(Params &params, const QString &key, bool lkasAllowedForAOL = false) {
+  QMap<int, QString> functionsMap;
+  if (key == "MainCruiseButtonControl") {
+    functionsMap = getMainCruiseFunctionsMap();
+  } else {
+    functionsMap = getMergedWheelFunctionsMap();
+    if (key == "LKASButtonControl" && lkasAllowedForAOL) {
+      functionsMap[9] = QObject::tr("Toggle Always On Lateral");
+    }
+  }
  return functionsMap.value(params.getInt(key.toStdString()), QObject::tr("No Action"));
 }

@@ -63,6 +79,7 @@ StarPilotWheelPanel::StarPilotWheelPanel(StarPilotSettingsWindow *parent, bool f
    {"VeryLongCancelButtonControl", tr("Cancel Button (Very Long Press)"), tr("<b>Action performed when the remapped \"Cancel\" button is pressed for more than 2.5 seconds.</b>"), "../../starpilot/assets/toggle_icons/icon_mute.png"},
    {"VeryLongDistanceButtonControl", tr("Distance Button (Very Long Press)"), tr("<b>Action performed when the \"Distance\" button is pressed for more than 2.5 seconds.</b>"), "../../starpilot/assets/toggle_icons/icon_mute.png"},
    {"LKASButtonControl", tr("LKAS Button"), tr("<b>Action performed when the \"LKAS\" button is pressed.</b>"), "../../starpilot/assets/toggle_icons/icon_mute.png"},
+    {"MainCruiseButtonControl", tr("CC Main Button"), tr("<b>Action performed when the cruise control main button is pressed.</b>"), "../../starpilot/assets/toggle_icons/icon_mute.png"},
    {"ModeButtonControl", tr("Mode Button"), tr("<b>Action performed when the \"Mode\" button is pressed.</b>"), "../../starpilot/assets/toggle_icons/icon_mute.png"},
    {"LongModeButtonControl", tr("Mode Button (Long Press)"), tr("<b>Action performed when the \"Mode\" button is pressed for more than 0.5 seconds.</b>"), "../../starpilot/assets/toggle_icons/icon_mute.png"},
    {"VeryLongModeButtonControl", tr("Mode Button (Very Long Press)"), tr("<b>Action performed when the \"Mode\" button is pressed for more than 2.5 seconds.</b>"), "../../starpilot/assets/toggle_icons/icon_mute.png"},
@@ -74,11 +91,19 @@ StarPilotWheelPanel::StarPilotWheelPanel(StarPilotSettingsWindow *parent, bool f
  for (const auto &[param, title, desc, icon] : wheelToggles) {
    ButtonControl *wheelToggle = new ButtonControl(title, tr("SELECT"), desc);
    QObject::connect(wheelToggle, &ButtonControl::clicked, [key = param, parent, wheelToggle, this]() {
-      QMap<int, QString> functionsMap = getWheelFunctionsMap();
-      if (parent->hasOpenpilotLongitudinal) {
-        const QMap<int, QString> longitudinalFunctionsMap = getLongitudinalWheelFunctionsMap();
-        for (auto it = longitudinalFunctionsMap.constBegin(); it != longitudinalFunctionsMap.constEnd(); ++it) {
-          functionsMap[it.key()] = it.value();
+      QMap<int, QString> functionsMap;
+      if (key == "MainCruiseButtonControl") {
+        functionsMap = getMainCruiseFunctionsMap();
+      } else {
+        functionsMap = getWheelFunctionsMap();
+        if (parent->hasOpenpilotLongitudinal) {
+          const QMap<int, QString> longitudinalFunctionsMap = getLongitudinalWheelFunctionsMap();
+          for (auto it = longitudinalFunctionsMap.constBegin(); it != longitudinalFunctionsMap.constEnd(); ++it) {
+            functionsMap[it.key()] = it.value();
+          }
+        }
+        if (key == "LKASButtonControl" && parent->lkasAllowedForAOL) {
+          functionsMap[9] = tr("Toggle Always On Lateral");
        }
      }

@@ -89,7 +114,7 @@ StarPilotWheelPanel::StarPilotWheelPanel(StarPilotSettingsWindow *parent, bool f
        updateStarPilotToggles();
      }
    });
-    wheelToggle->setValue(getWheelFunctionLabel(params, param));
+    wheelToggle->setValue(getWheelFunctionLabel(params, param, parent->lkasAllowedForAOL));

    toggles[param] = wheelToggle;

@@ -118,7 +143,6 @@ void StarPilotWheelPanel::updateToggles() {

    if (!showAllToggles && key == "LKASButtonControl") {
      setVisible &= !parent->isSubaru;
-      setVisible &= !parent->lkasAllowedForAOL || !(params.getBool("AlwaysOnLateral") && params.getBool("AlwaysOnLateralLKAS"));
    }

    if (!showAllToggles && (
@@ -146,7 +170,7 @@ void StarPilotWheelPanel::updateToggles() {
    }

    if (ButtonControl *wheelToggle = qobject_cast<ButtonControl*>(toggle)) {
-      wheelToggle->setValue(getWheelFunctionLabel(params, key));
+      wheelToggle->setValue(getWheelFunctionLabel(params, key, parent->lkasAllowedForAOL));
    }

    toggle->setVisible(setVisible);