Always On Lateral

Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
2026-09-04 07:03:44 +08:00 · 2025-12-01 12:00:00 -07:00
parent aa47ad829f
commit c8ba3e3b9e
49 changed files with 372 additions and 22 deletions
@@ -436,7 +436,7 @@ class DriverMonitoring:
      rpyCalib = [0., 0., 0.]
    else:
      highway_speed = sm['carState'].vEgo
-      enabled = sm['selfdriveState'].enabled
+      enabled = sm['selfdriveState'].enabled or sm['frogpilotCarState'].alwaysOnLateralEnabled
      wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
      standstill = sm['carState'].standstill
      driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed