From 6141b5f2c10c724ce3f9441286cb755217b4737d 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] Nudgeless lane changes

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

diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index b2ae7dea3..e11b8d953 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -77,6 +77,7 @@ class DesireHelper:
                               (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
 
         # FrogPilot variables
+        torque_applied |= frogpilot_toggles.nudgeless
 
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off