From b9d0f979d28bca80c7d2c30d4d75056199d97385 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] "Stop-and-Go Hack" for Toyota/Lexus

---
 opendbc_repo/opendbc/car/toyota/carcontroller.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo/opendbc/car/toyota/carcontroller.py b/opendbc_repo/opendbc/car/toyota/carcontroller.py
index 379734d75..34febafc3 100644
--- a/opendbc_repo/opendbc/car/toyota/carcontroller.py
+++ b/opendbc_repo/opendbc/car/toyota/carcontroller.py
@@ -183,7 +183,7 @@ class CarController(CarControllerBase):
 
     # on entering standstill, send standstill request for older TSS-P cars that aren't designed to stay engaged at a stop
     if self.CP.carFingerprint not in NO_STOP_TIMER_CAR:
-      if CS.out.standstill and not self.last_standstill:
+      if CS.out.standstill and not self.last_standstill and not frogpilot_toggles.sng_hack:
         self.standstill_req = True
       if CS.pcm_acc_status != 8:
         # pcm entered standstill or it's disabled
@@ -194,7 +194,7 @@ class CarController(CarControllerBase):
       # brakes can take a while to ramp up causing a lurch forward. prevent resume press until planner wants to move.
       # don't use CC.cruiseControl.resume since it is gated on CS.cruiseState.standstill which goes false for 3s after resume press
       # TODO: hybrids do not have this issue and can stay stopped after resume press, whitelist them
-      should_resume = actuators.accel > 0
+      should_resume = actuators.accel > 0 or frogpilot_toggles.sng_hack
       if should_resume:
         self.standstill_req = False