My username was friar carl

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-82619bd7-DEBUG";
+const uint8_t gitversion[19] = "DEV-277b2255-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-82619bd7-DEBUG
+DEV-277b2255-DEBUG

selfdrive/ui/layouts/settings/starpilot/metro.py

@@ -128,17 +128,38 @@ class ToggleTile(MetroTile):
 
 
 class ValueTile(MetroTile):
-  def __init__(self, title: str, get_value: Callable[[], str], on_click: Callable, icon_path: str | None = None, bg_color: rl.Color | str | None = None):
+  def __init__(self, title: str, get_value: Callable[[], str], on_click: Callable, icon_path: str | None = None,
+               bg_color: rl.Color | str | None = None, is_enabled: Callable[[], bool] | None = None):
     super().__init__(bg_color=bg_color, on_click=on_click)
     self.title = title
     self.get_value = get_value
+    self.is_enabled = is_enabled or (lambda: True)
     self._icon = gui_app.starpilot_texture(icon_path, 80, 80) if icon_path else None
     self._font = gui_app.font(FontWeight.BOLD)
+    self._active_color = self.bg_color
+    self._disabled_color = rl.Color(120, 120, 120, 255)
+
+  def _enabled(self) -> bool:
+    return self.is_enabled() if callable(self.is_enabled) else bool(self.is_enabled)
+
+  def _handle_mouse_press(self, mouse_pos: MousePos):
+    if not self._enabled():
+      self._is_pressed = False
+      return
+    super()._handle_mouse_press(mouse_pos)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    if not self._enabled():
+      self._is_pressed = False
+      return
+    super()._handle_mouse_release(mouse_pos)
 
   def _render(self, rect: rl.Rectangle):
     self.set_rect(rect)
-    r, g, b = max(0, self.bg_color.r - 20), max(0, self.bg_color.g - 20), max(0, self.bg_color.b - 20)
-    color = rl.Color(r, g, b, 255) if self._is_pressed else self.bg_color
+    enabled = self._enabled()
+    base_color = self._active_color if enabled else self._disabled_color
+    r, g, b = max(0, base_color.r - 20), max(0, base_color.g - 20), max(0, base_color.b - 20)
+    color = rl.Color(r, g, b, 255) if self._is_pressed and enabled else base_color
     rl.draw_rectangle_rounded(rect, 0.15, 10, color)
     self._draw_watermark(rect, self._icon)
     padding = 25

selfdrive/ui/layouts/settings/starpilot/wheel.py

@@ -29,7 +29,7 @@ class StarPilotWheelLayout(StarPilotPanel):
         "title": tr_noop("Remap Cancel Button"),
         "type": "toggle",
         "get_state": lambda: self._params.get_bool("RemapCancelToDistance"),
-        "set_state": lambda s: self._params.put_bool("RemapCancelToDistance", s),
+        "set_state": self._set_cancel_remap_state,
         "color": "#FFC40D",
       },
       {
@@ -58,17 +58,39 @@ class StarPilotWheelLayout(StarPilotPanel):
         "type": "value",
         "get_value": lambda: self._get_action_name("LKASButtonControl"),
         "on_click": lambda: self._show_action_picker("LKASButtonControl"),
+        "is_enabled": lambda: not self._lkas_locked(),
         "key": "LKASButtonControl",
         "color": "#FFC40D",
       },
     ]
     self._rebuild_grid()
 
+  def _lkas_locked(self):
+    return self._params.get_bool("RemapCancelToDistance")
+
+  def _force_lkas_no_action(self):
+    if self._params.get_int("LKASButtonControl") != 0:
+      self._params.put_int("LKASButtonControl", 0)
+      self._params_memory.put_bool("StarPilotTogglesUpdated", True)
+
+  def _set_cancel_remap_state(self, state):
+    self._params.put_bool("RemapCancelToDistance", state)
+    if state:
+      self._force_lkas_no_action()
+    self._rebuild_grid()
+
   def _get_action_name(self, key):
+    if key == "LKASButtonControl" and self._lkas_locked():
+      self._force_lkas_no_action()
+      return ACTION_NAME_BY_ID[0]
+
     idx = self._params.get_int(key)
     return ACTION_NAME_BY_ID.get(idx, ACTION_NAMES[0])
 
-  def _get_available_actions(self):
+  def _get_available_actions(self, key=None):
+    if key == "LKASButtonControl" and self._lkas_locked():
+      return [ACTION_NAME_BY_ID[0]]
+
     cs = starpilot_state.car_state
     return [
       option["name"] for option in ACTION_OPTIONS
@@ -76,7 +98,12 @@ class StarPilotWheelLayout(StarPilotPanel):
     ]
 
   def _show_action_picker(self, key):
-    actions = self._get_available_actions()
+    if key == "LKASButtonControl" and self._lkas_locked():
+      self._force_lkas_no_action()
+      self._rebuild_grid()
+      return
+
+    actions = self._get_available_actions(key)
     current = self._get_action_name(key)
     if current not in actions:
       current = actions[0]
@@ -84,6 +111,7 @@ class StarPilotWheelLayout(StarPilotPanel):
     def on_select(res, val):
       if res == DialogResult.CONFIRM:
         self._params.put_int(key, ACTION_IDS.get(val, 0))
+        self._params_memory.put_bool("StarPilotTogglesUpdated", True)
         self._rebuild_grid()
 
     gui_app.set_modal_overlay(SelectionDialog(tr(key), actions, current, on_close=on_select))
@@ -91,6 +119,8 @@ class StarPilotWheelLayout(StarPilotPanel):
   def _rebuild_grid(self):
     if not self.CATEGORIES:
       return
+    if self._lkas_locked():
+      self._force_lkas_no_action()
     if self._tile_grid is None:
       self._tile_grid = __import__('openpilot.selfdrive.ui.layouts.settings.starpilot.metro', fromlist=['TileGrid']).TileGrid(columns=None, padding=20)
     self._tile_grid.clear()
@@ -110,7 +140,7 @@ class StarPilotWheelLayout(StarPilotPanel):
       elif tile_type == "value":
         from openpilot.selfdrive.ui.layouts.settings.starpilot.metro import ValueTile
 
-        tile = ValueTile(title=tr(cat["title"]), get_value=cat["get_value"], on_click=cat["on_click"], bg_color=cat.get("color"))
+        tile = ValueTile(title=tr(cat["title"]), get_value=cat["get_value"], on_click=cat["on_click"], bg_color=cat.get("color"), is_enabled=cat.get("is_enabled"))
       else:
         continue
       self._tile_grid.add_tile(tile)

starpilot/system/the_pond/assets/components/tools/device_settings.js

@@ -565,6 +565,13 @@ function clearSearchFilter() {
   scheduleSyncInputs()
 }
 
+function getSettingLockReason(param) {
+  if (param?.key === "LKASButtonControl" && !!state.values.RemapCancelToDistance) {
+    return "Cancel remap requires the LKAS button to stay on No Action."
+  }
+  return ""
+}
+
 function handleSectionTabClick(sectionSlug, event) {
   if (!sectionSlug || sectionSlug === state.activeSectionSlug) return
 
@@ -590,6 +597,8 @@ function renderSettingRow(p) {
 
   const isNumeric = p.ui_type === "numeric"
   const isChild = p.parent_key ? "ds-child-modifier" : ""
+  const lockReason = getSettingLockReason(p)
+  const isLocked = lockReason !== ""
 
   return html`
     <div class="ds-row ${isNumeric ? "ds-row-numeric" : ""} ${isChild}">
@@ -597,6 +606,7 @@ function renderSettingRow(p) {
         <div class="ds-row-text">
           <span class="ds-row-label">${p.label}</span>
           ${p.description ? html`<div class="ds-row-desc">${p.description}</div>` : ""}
+          ${lockReason ? html`<div class="ds-row-desc"><strong>Locked:</strong> ${lockReason}</div>` : ""}
 
           ${() => p.is_parent_toggle && state.values[p.key] ? html`
             <div class="ds-manage-btn" @click="${() => toggleManage(p.key)}">
@@ -675,6 +685,7 @@ function renderSettingRow(p) {
           class="ds-select"
           id="ds-${p.key}"
           data-endpoint="${p.options_endpoint || ""}"
+          ?disabled="${isLocked}"
           @change="${() => updateParam(p.key, "dropdown")}">
           <option value="">Loading...</option>
         </select>

starpilot/system/the_pond/assets/components/tools/device_settings_layout.json

@@ -1724,13 +1724,6 @@
         "data_type": "bool",
         "ui_type": "toggle"
       },
-      {
-        "key": "RemapCancelToDistance",
-        "label": "Remap Cancel To Distance",
-        "description": "On pedal-interceptor Bolts, remap the steering-wheel CANCEL button to distance/personality input.",
-        "data_type": "bool",
-        "ui_type": "toggle"
-      },
       {
         "key": "VoltSNG",
         "label": "Stop-and-Go Hack",
@@ -1771,6 +1764,183 @@
       }
     ]
   },
+  {
+    "name": "Wheel Controls",
+    "icon": "bi-controller",
+    "params": [
+      {
+        "key": "RemapCancelToDistance",
+        "label": "Remap Cancel To Distance",
+        "description": "On pedal-interceptor Bolts, remap the steering-wheel CANCEL button to distance/personality input.",
+        "data_type": "bool",
+        "ui_type": "toggle"
+      },
+      {
+        "key": "DistanceButtonControl",
+        "label": "Distance Button (Short Press)",
+        "description": "Action performed when the \"Distance\" button is pressed.",
+        "data_type": "int",
+        "ui_type": "dropdown",
+        "options": [
+          {
+            "value": 0,
+            "label": "No Action"
+          },
+          {
+            "value": 1,
+            "label": "Change Personality"
+          },
+          {
+            "value": 2,
+            "label": "Force Coast"
+          },
+          {
+            "value": 3,
+            "label": "Pause Steering"
+          },
+          {
+            "value": 4,
+            "label": "Pause Accel/Brake"
+          },
+          {
+            "value": 5,
+            "label": "Toggle Experimental"
+          },
+          {
+            "value": 6,
+            "label": "Toggle Traffic"
+          },
+          {
+            "value": 7,
+            "label": "Toggle Switchback"
+          }
+        ]
+      },
+      {
+        "key": "LongDistanceButtonControl",
+        "label": "Distance Button (Long Press)",
+        "description": "Action performed when the \"Distance\" button is pressed for more than 0.5 seconds.",
+        "data_type": "int",
+        "ui_type": "dropdown",
+        "options": [
+          {
+            "value": 0,
+            "label": "No Action"
+          },
+          {
+            "value": 1,
+            "label": "Change Personality"
+          },
+          {
+            "value": 2,
+            "label": "Force Coast"
+          },
+          {
+            "value": 3,
+            "label": "Pause Steering"
+          },
+          {
+            "value": 4,
+            "label": "Pause Accel/Brake"
+          },
+          {
+            "value": 5,
+            "label": "Toggle Experimental"
+          },
+          {
+            "value": 6,
+            "label": "Toggle Traffic"
+          },
+          {
+            "value": 7,
+            "label": "Toggle Switchback"
+          }
+        ]
+      },
+      {
+        "key": "VeryLongDistanceButtonControl",
+        "label": "Distance Button (Extra Long Press)",
+        "description": "Action performed when the \"Distance\" button is pressed for more than 2.5 seconds.",
+        "data_type": "int",
+        "ui_type": "dropdown",
+        "options": [
+          {
+            "value": 0,
+            "label": "No Action"
+          },
+          {
+            "value": 1,
+            "label": "Change Personality"
+          },
+          {
+            "value": 2,
+            "label": "Force Coast"
+          },
+          {
+            "value": 3,
+            "label": "Pause Steering"
+          },
+          {
+            "value": 4,
+            "label": "Pause Accel/Brake"
+          },
+          {
+            "value": 5,
+            "label": "Toggle Experimental"
+          },
+          {
+            "value": 6,
+            "label": "Toggle Traffic"
+          },
+          {
+            "value": 7,
+            "label": "Toggle Switchback"
+          }
+        ]
+      },
+      {
+        "key": "LKASButtonControl",
+        "label": "LKAS Button",
+        "description": "Action performed when the \"LKAS\" button is pressed.",
+        "data_type": "int",
+        "ui_type": "dropdown",
+        "options": [
+          {
+            "value": 0,
+            "label": "No Action"
+          },
+          {
+            "value": 1,
+            "label": "Change Personality"
+          },
+          {
+            "value": 2,
+            "label": "Force Coast"
+          },
+          {
+            "value": 3,
+            "label": "Pause Steering"
+          },
+          {
+            "value": 4,
+            "label": "Pause Accel/Brake"
+          },
+          {
+            "value": 5,
+            "label": "Toggle Experimental"
+          },
+          {
+            "value": 6,
+            "label": "Toggle Traffic"
+          },
+          {
+            "value": 7,
+            "label": "Toggle Switchback"
+          }
+        ]
+      }
+    ]
+  },
   {
     "name": "Device & Data",
     "icon": "bi-hdd",

starpilot/system/the_pond/assets/components/tools/plots.js

@@ -20,16 +20,16 @@ const SVG_WIDTH = 1000
 const SVG_HEIGHT = 260
 const ADVANCED_TERMS_KEY = "plotsShowAdvancedTerms"
 const QUALITY_WINDOW_SECONDS = 30
-const QUALITY_MIN_SAMPLES = 12
+const QUALITY_MIN_SAMPLES = 8
 
 const LATERAL_QUALITY_CONFIG = {
   desiredKey: "desiredLateralAccel",
   actualKey: "actualLateralAccel",
   minSpeedMps: 0.5,
-  minDemand: 0.015,
+  minDemand: 0.008,
   allowLowDemandFallback: true,
-  fallbackMinSpeedMps: 1.0,
-  fallbackMinPeakDemand: 0.03,
+  fallbackMinSpeedMps: 0.5,
+  fallbackMinPeakDemand: 0.01,
   great: 0.15,
   good: 0.30,
   fair: 0.50,
@@ -39,8 +39,10 @@ const LONGITUDINAL_QUALITY_CONFIG = {
   desiredKey: "desiredLongitudinalAccel",
   actualKey: "actualLongitudinalAccel",
   minSpeedMps: 0.0,
-  minDemand: 0.08,
-  allowLowDemandFallback: false,
+  minDemand: 0.05,
+  allowLowDemandFallback: true,
+  fallbackMinSpeedMps: 1.5,
+  fallbackMinPeakDemand: 0.04,
   applyPersistenceRules: true,
   warnError: 0.50,
   severeError: 0.90,
@@ -114,6 +116,12 @@ function formatQualityLabel(label) {
   return text || "N/A"
 }
 
+function signalMagnitude(sample, config) {
+  const desired = Math.abs(toNumber(sample?.[config.desiredKey], 0))
+  const actual = Math.abs(toNumber(sample?.[config.actualKey], 0))
+  return Math.max(desired, actual)
+}
+
 function computeMatchQuality(samples, config) {
   const safeSamples = Array.isArray(samples) ? samples : []
   if (safeSamples.length < 2) {
@@ -124,25 +132,22 @@ function computeMatchQuality(samples, config) {
   const cutoffTs = latestTs > 0 ? latestTs - QUALITY_WINDOW_SECONDS : 0
   const recentSamples = safeSamples.filter((sample) => toNumber(sample?.timestamp, 0) >= cutoffTs)
 
-  const demandEligibleSamples = recentSamples.filter((sample) => {
+  const eligibleSignalSamples = recentSamples.filter((sample) => {
     const speed = Math.abs(toNumber(sample?.speed, 0))
-    const desired = Math.abs(toNumber(sample?.[config.desiredKey], 0))
+    const signal = signalMagnitude(sample, config)
 
     const speedOk = config.minSpeedMps <= 0 ? true : speed >= config.minSpeedMps
-    const demandOk = config.minDemand <= 0 ? true : desired >= config.minDemand
+    const demandOk = config.minDemand <= 0 ? true : signal >= config.minDemand
     return speedOk && demandOk
   })
 
-  let eligibleSamples = demandEligibleSamples
+  let eligibleSamples = eligibleSignalSamples
   let usedLowDemandFallback = false
   const allowLowDemandFallback = config.allowLowDemandFallback !== false
   if (allowLowDemandFallback && eligibleSamples.length < QUALITY_MIN_SAMPLES && recentSamples.length >= QUALITY_MIN_SAMPLES) {
     const totalSpeed = recentSamples.reduce((sum, sample) => sum + Math.abs(toNumber(sample?.speed, 0)), 0)
     const avgSpeed = recentSamples.length > 0 ? (totalSpeed / recentSamples.length) : 0
-    const peakDemand = recentSamples.reduce((peak, sample) => {
-      const desired = Math.abs(toNumber(sample?.[config.desiredKey], 0))
-      return Math.max(peak, desired)
-    }, 0)
+    const peakDemand = recentSamples.reduce((peak, sample) => Math.max(peak, signalMagnitude(sample, config)), 0)
 
     const fallbackMinSpeed = Math.max(0, toNumber(config.fallbackMinSpeedMps, 0))
     const fallbackMinPeakDemand = Math.max(0, toNumber(config.fallbackMinPeakDemand, 0))
@@ -164,7 +169,7 @@ function computeMatchQuality(samples, config) {
     return {
       label: "N/A",
       value: null,
-      detail: `Need ${QUALITY_MIN_SAMPLES} demand samples (${eligibleSamples.length} demand / ${recentSamples.length} total)`,
+      detail: `Need ${QUALITY_MIN_SAMPLES} signal samples (${eligibleSamples.length} signal / ${recentSamples.length} total)`,
     }
   }
 
@@ -622,7 +627,7 @@ export function LivePlots() {
         ${state.error ? html`<p class="plotError"><strong>Error:</strong> ${state.error}</p>` : ""}
         ${state.live?.lastError ? html`<p class="plotError"><strong>Source Error:</strong> ${state.live.lastError}</p>` : ""}
         <p class="qualityMethodNote">
-          Match rating uses a 30-second rolling window. Lateral prefers true steering-demand moments, and longitudinal also checks how much of the window stays above error limits so brief spikes are less likely to mark "Poor."
+          Match rating uses a 30-second rolling window. Strong steering or accel moments are preferred, but gentler windows can still earn a rating so normal driving does not sit at N/A. Longitudinal also checks how much of the window stays above error limits so brief spikes are less likely to mark "Poor."
         </p>
       </section>
 

starpilot/system/the_pond/the_pond.py

@@ -674,6 +674,26 @@ def _safe_float(value, default=0.0):
   except Exception:
     return float(default)
 
+def _get_param_int_value(key, default=0):
+  try:
+    raw_value = params.get(key)
+    if isinstance(raw_value, bytes):
+      raw_value = raw_value.decode("utf-8", errors="replace")
+    return int(float(str(raw_value or default)))
+  except Exception:
+    return int(default)
+
+def _enforce_cancel_remap_lkas_lock():
+  if not params.get_bool("RemapCancelToDistance"):
+    return False
+
+  if _get_param_int_value("LKASButtonControl", 0) == 0:
+    return False
+
+  params.put("LKASButtonControl", "0")
+  update_starpilot_toggles()
+  return True
+
 def _get_system_uptime_seconds():
   try:
     with open("/proc/uptime", "r", encoding="utf-8") as uptime_file:
@@ -2803,15 +2823,30 @@ def setup(app):
         metered_enabled = str_val.strip() in ("1", "true", "True")
         gsm_metered_apply_result = _apply_cellular_metered_setting(metered_enabled)
 
+      locked_lkas = _enforce_cancel_remap_lkas_lock()
       update_starpilot_toggles()
 
       response = {"message": f"Parameter '{key}' updated successfully."}
+      updated = {}
+      if key == "RemapCancelToDistance" and params.get_bool("RemapCancelToDistance"):
+        updated["RemapCancelToDistance"] = True
+        updated["LKASButtonControl"] = 0
+        response["message"] = "Remap Cancel To Distance enabled. LKAS Button has been locked to No Action."
+      elif key == "LKASButtonControl" and params.get_bool("RemapCancelToDistance"):
+        updated["LKASButtonControl"] = 0
+        updated["RemapCancelToDistance"] = True
+        response["message"] = "LKAS Button is locked to No Action while Remap Cancel To Distance is enabled."
+      elif locked_lkas:
+        updated["LKASButtonControl"] = 0
+
       if gsm_metered_apply_result is not None:
-        response["updated"] = {"GsmMetered": str_val.strip() in ("1", "true", "True")}
+        updated["GsmMetered"] = str_val.strip() in ("1", "true", "True")
         response["networkProfilesUpdated"] = gsm_metered_apply_result.get("profiles", [])
         warnings = gsm_metered_apply_result.get("warnings", [])
         if warnings:
           response["warning"] = " ".join(warnings)
+      if updated:
+        response["updated"] = updated
 
       return jsonify(response), 200
 
@@ -2819,6 +2854,7 @@ def setup(app):
 
   @app.route("/api/params/all", methods=["GET"])
   def get_all_params():
+    _enforce_cancel_remap_lkas_lock()
     allowed_keys, types = _get_param_type_info()
 
     result = {}

starpilot/ui/qt/offroad/vehicle_settings.cc

@@ -305,6 +305,11 @@ StarPilotVehiclesPanel::StarPilotVehiclesPanel(StarPilotSettingsWindow *parent,
   QSet<QString> rebootKeys = {"RemapCancelToDistance", "TacoTuneHacks"};
   for (const QString &key : rebootKeys) {
     QObject::connect(static_cast<ToggleControl*>(toggles[key]), &ToggleControl::toggleFlipped, [key, this](bool state) {
+      if (key == "RemapCancelToDistance" && state && params.getInt("LKASButtonControl") != 0) {
+        params.putInt("LKASButtonControl", 0);
+        updateStarPilotToggles();
+      }
+
       if (started) {
         if (key == "TacoTuneHacks" && state) {
           if (StarPilotConfirmationDialog::toggleReboot(this)) {

starpilot/ui/qt/offroad/wheel_settings.cc

@@ -1,5 +1,54 @@
 #include "starpilot/ui/qt/offroad/wheel_settings.h"
 
+namespace {
+
+QMap<int, QString> getWheelFunctionsMap() {
+  return {
+    {0, QObject::tr("No Action")},
+    {3, QObject::tr("Pause Steering")},
+    {7, QObject::tr("Toggle \"Switchback Mode\" On/Off")},
+  };
+}
+
+QMap<int, QString> getLongitudinalWheelFunctionsMap() {
+  return {
+    {1, QObject::tr("Change \"Personality Profile\"")},
+    {2, QObject::tr("Force openpilot to Coast")},
+    {4, QObject::tr("Pause Acceleration/Braking")},
+    {5, QObject::tr("Toggle \"Experimental Mode\" On/Off")},
+    {6, QObject::tr("Toggle \"Traffic Mode\" On/Off")},
+  };
+}
+
+QMap<int, QString> getMergedWheelFunctionsMap() {
+  QMap<int, QString> functionsMap = getWheelFunctionsMap();
+  const QMap<int, QString> longitudinalFunctionsMap = getLongitudinalWheelFunctionsMap();
+  for (auto it = longitudinalFunctionsMap.constBegin(); it != longitudinalFunctionsMap.constEnd(); ++it) {
+    functionsMap[it.key()] = it.value();
+  }
+  return functionsMap;
+}
+
+QString getWheelFunctionLabel(Params &params, const QString &key) {
+  const QMap<int, QString> functionsMap = getMergedWheelFunctionsMap();
+  return functionsMap.value(params.getInt(key.toStdString()), QObject::tr("No Action"));
+}
+
+bool lockLkasButtonIfNeeded(Params &params) {
+  if (!params.getBool("RemapCancelToDistance")) {
+    return false;
+  }
+
+  if (params.getInt("LKASButtonControl") != 0) {
+    params.putInt("LKASButtonControl", 0);
+    updateStarPilotToggles();
+  }
+
+  return true;
+}
+
+}  // namespace
+
 StarPilotWheelPanel::StarPilotWheelPanel(StarPilotSettingsWindow *parent, bool forceOpen) : StarPilotListWidget(parent), parent(parent) {
   forceOpenDescriptions = forceOpen;
 
@@ -11,25 +60,18 @@ StarPilotWheelPanel::StarPilotWheelPanel(StarPilotSettingsWindow *parent, bool f
   };
 
   for (const auto &[param, title, desc, icon] : wheelToggles) {
-    QMap<int, QString> functionsMap {
-      {0, tr("No Action")},
-      {3, tr("Pause Steering")},
-      {7, tr("Toggle \"Switchback Mode\" On/Off")}
-    };
-
-    QMap<int, QString> longitudinalFunctionsMap {
-      {1, tr("Change \"Personality Profile\"")},
-      {2, tr("Force openpilot to Coast")},
-      {4, tr("Pause Acceleration/Braking")},
-      {5, tr("Toggle \"Experimental Mode\" On/Off")},
-      {6, tr("Toggle \"Traffic Mode\" On/Off")}
-    };
-
     ButtonControl *wheelToggle = new ButtonControl(title, tr("SELECT"), desc);
-    QObject::connect(wheelToggle, &ButtonControl::clicked, [functionsMap, longitudinalFunctionsMap, key = param, parent, wheelToggle, this]() mutable {
+    QObject::connect(wheelToggle, &ButtonControl::clicked, [key = param, parent, wheelToggle, this]() {
+      if (key == "LKASButtonControl" && lockLkasButtonIfNeeded(params)) {
+        wheelToggle->setValue(tr("No Action"));
+        wheelToggle->setEnabled(false);
+        return;
+      }
+
+      QMap<int, QString> functionsMap = getWheelFunctionsMap();
       if (parent->hasOpenpilotLongitudinal) {
-        QMap<int, QString>::const_iterator it;
-        for (it = longitudinalFunctionsMap.constBegin(); it != longitudinalFunctionsMap.constEnd(); ++it) {
+        const QMap<int, QString> longitudinalFunctionsMap = getLongitudinalWheelFunctionsMap();
+        for (auto it = longitudinalFunctionsMap.constBegin(); it != longitudinalFunctionsMap.constEnd(); ++it) {
           functionsMap[it.key()] = it.value();
         }
       }
@@ -37,16 +79,17 @@ StarPilotWheelPanel::StarPilotWheelPanel(StarPilotSettingsWindow *parent, bool f
       QString selection = MultiOptionDialog::getSelection(tr("Select a function to assign to this button"), functionsMap.values(), functionsMap[params.getInt(key.toStdString())], this);
       if (!selection.isEmpty()) {
         params.putInt(key.toStdString(), functionsMap.key(selection));
-
         wheelToggle->setValue(selection);
+        updateStarPilotToggles();
       }
     });
-    QMap<int, QString> mergedFunctionsMap = functionsMap;
-    QMap<int, QString>::const_iterator it;
-    for (it = longitudinalFunctionsMap.constBegin(); it != longitudinalFunctionsMap.constEnd(); ++it) {
-      mergedFunctionsMap[it.key()] = it.value();
+
+    if (param == "LKASButtonControl" && lockLkasButtonIfNeeded(params)) {
+      wheelToggle->setValue(tr("No Action"));
+      wheelToggle->setEnabled(false);
+    } else {
+      wheelToggle->setValue(getWheelFunctionLabel(params, param));
     }
-    wheelToggle->setValue(mergedFunctionsMap[params.getInt(param.toStdString())]);
 
     toggles[param] = wheelToggle;
 
@@ -78,6 +121,16 @@ void StarPilotWheelPanel::updateToggles() {
       setVisible &= !parent->lkasAllowedForAOL || !(params.getBool("AlwaysOnLateral") && params.getBool("AlwaysOnLateralLKAS"));
     }
 
+    if (ButtonControl *wheelToggle = qobject_cast<ButtonControl*>(toggle)) {
+      if (key == "LKASButtonControl") {
+        const bool lkasLocked = lockLkasButtonIfNeeded(params);
+        wheelToggle->setEnabled(!lkasLocked);
+        wheelToggle->setValue(lkasLocked ? tr("No Action") : getWheelFunctionLabel(params, key));
+      } else {
+        wheelToggle->setValue(getWheelFunctionLabel(params, key));
+      }
+    }
+
     toggle->setVisible(setVisible);
   }