Merge pull request #52 from firestar5683/Dom49

AOL: keep lateral active when braking disengages longitudinal on full OP for HKG with LKAS

starpilot/controls/starpilot_card.py

@@ -21,6 +21,7 @@ class StarPilotCard:
 
     self.accel_pressed = False
     self.always_on_lateral_allowed = False
+    self.prev_active = False
     self.decel_pressed = False
     self.distancePressed_previously = False
     self.force_coast = False
@@ -78,6 +79,13 @@ class StarPilotCard:
     elif starpilot_toggles.always_on_lateral_main:
       self.always_on_lateral_allowed = carState.cruiseState.available
 
+    # On rising edge of engagement (SET press enabling lat+long), auto-enable AOL
+    # so that lateral persists when braking disengages longitudinal
+    if sm["selfdriveState"].active and not self.prev_active and self.always_on_lateral_set and starpilot_toggles.always_on_lateral_lkas:
+      self.always_on_lateral_allowed = True
+
+    self.prev_active = sm["selfdriveState"].active
+
     self.always_on_lateral_enabled = self.always_on_lateral_allowed and self.always_on_lateral_set
     self.always_on_lateral_enabled &= carState.gearShifter not in NON_DRIVING_GEARS
     self.always_on_lateral_enabled &= sm["starpilotPlan"].lateralCheck