diff --git a/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py b/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py index 45e1b1dc5..45abba518 100644 --- a/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py +++ b/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py @@ -28,6 +28,10 @@ class ConditionalExperimentalMode: self.status_value = 7 if tracking_lead else 8 return True + if frogpilot_toggles.conditional_signal and v_ego <= CITY_SPEED_LIMIT and (carState.leftBlinker or carState.rightBlinker): + self.status_value = 9 + return True + approaching_maneuver = modelData.navEnabled and (frogpilotNavigation.approachingIntersection or frogpilotNavigation.approachingTurn) if frogpilot_toggles.conditional_navigation and approaching_maneuver and (frogpilot_toggles.conditional_navigation_lead or not tracking_lead): self.status_value = 10 if frogpilotNavigation.approachingIntersection else 11