From 45a36222a44f61cffa89a8c8aa212e2f22f94d88 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] Pause steering with an active turn signal

---
 frogpilot/controls/frogpilot_planner.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/frogpilot/controls/frogpilot_planner.py b/frogpilot/controls/frogpilot_planner.py
index e1a393eb6..fa39c8160 100644
--- a/frogpilot/controls/frogpilot_planner.py
+++ b/frogpilot/controls/frogpilot_planner.py
@@ -94,6 +94,7 @@ class FrogPilotPlanner:
     self.lateral_acceleration = v_ego**2 * sm["controlsState"].curvature
 
     self.lateral_check = v_ego >= frogpilot_toggles.pause_lateral_below_speed
+    self.lateral_check |= not (sm["carState"].leftBlinker or sm["carState"].rightBlinker) and frogpilot_toggles.pause_lateral_below_signal
     self.lateral_check |= sm["carState"].standstill
     self.lateral_check &= not sm["frogpilotCarState"].pauseLateral