From b9c847cbb30af5a7d67baa0a19ba18a4a83da9dd 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] Disable lane changes

---
 selfdrive/controls/lib/desire_helper.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index b7e4762fd..b2ae7dea3 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -53,7 +53,7 @@ class DesireHelper:
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < frogpilot_toggles.minimum_lane_change_speed
 
-    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
+    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or not frogpilot_toggles.lane_changes:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
     else: