the day of the push

starpilot/common/starpilot_functions.py

@@ -29,9 +29,9 @@ from openpilot.starpilot.common.maps_download_progress import (
   storage_bytes,
 )
 from openpilot.starpilot.common.theme_asset_names import find_matching_theme_asset_file
-from openpilot.starpilot.common.starpilot_utilities import get_starpilot_api_info, is_FrogsGoMoo, is_url_pingable, run_cmd
+from openpilot.starpilot.common.starpilot_utilities import get_starpilot_api_info, is_url_pingable, run_cmd
 from openpilot.starpilot.common.starpilot_variables import (
-  ERROR_LOGS_PATH, STARPILOT_API, FROGS_GO_MOO_PATH, HD_LOGS_PATH, KONIK_LOGS_PATH, MAPS_PATH, THEME_SAVE_PATH,
+  ERROR_LOGS_PATH, STARPILOT_API, HD_LOGS_PATH, KONIK_LOGS_PATH, MAPS_PATH, THEME_SAVE_PATH,
   StarPilotVariables, get_starpilot_toggles
 )
 
@@ -113,13 +113,6 @@ def install_starpilot(build_metadata, params):
 
   update_boot_logo(starpilot=True, selected_logo=params.get("BootLogo"))
 
-  if is_FrogsGoMoo():
-    mount_options = run_cmd(["findmnt", "-n", "-o", "OPTIONS", "/persist"], "Successfully retrieved mount options", "Failed to retrieve mount options")
-    run_cmd(["sudo", "mount", "-o", "remount,rw", "/persist"], "Successfully remounted /persist as read-write", "Failed to remount /persist")
-    run_cmd(["sudo", "python3", FROGS_GO_MOO_PATH], "Successfully ran frogsgomoo.py", "Failed to run frogsgomoo.py")
-    run_cmd(["sudo", "mount", "-o", f"remount,{mount_options}", "/persist"], "Successfully restored /persist mount options", "Failed to restore /persist mount options")
-
-
 def register_device(build_metadata, params):
   def register_thread():
     dongle_id = params.get("DongleId")

starpilot/common/starpilot_utilities.py

@@ -23,7 +23,7 @@ from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
 from panda import Panda, FW_PATH
 
-from openpilot.starpilot.common.starpilot_variables import EARTH_RADIUS, STARPILOT_API, FROGS_GO_MOO_PATH, KONIK_PATH
+from openpilot.starpilot.common.starpilot_variables import EARTH_RADIUS, STARPILOT_API, KONIK_PATH
 
 
 def capture_exception(exception):
@@ -272,11 +272,6 @@ def get_sentry_dsn():
     return ""
 
 
-@cache
-def is_FrogsGoMoo():
-  return FROGS_GO_MOO_PATH.is_file()
-
-
 def is_url_pingable(url):
   if not url:
     return False

starpilot/common/starpilot_variables.py

@@ -74,7 +74,7 @@ def _lkas_allowed_for_aol(car_make, cp_flags, fpcp_safety_configs) -> bool:
   hyundai_can_use_lkas_for_aol = car_make == "hyundai" and (
     bool(cp_flags & HyundaiFlags.CANFD) or hyundai_has_lda_button
   )
-  return hyundai_can_use_lkas_for_aol or car_make == "honda"
+  return hyundai_can_use_lkas_for_aol or car_make in ("ford", "honda")
 
 
 def _main_cruise_aol_allowed(button_control: float) -> bool:
@@ -145,8 +145,6 @@ BACKUP_PATH = _FP_CACHE_ROOT / "on_backup"
 STARPILOT_BACKUPS = _FP_DATA_ROOT / "backups"
 TOGGLE_BACKUPS = _FP_DATA_ROOT / "toggle_backups"
 
-FROGS_GO_MOO_PATH = _FP_PERSIST_ROOT / "frogsgomoo.py"
-
 HD_LOGS_PATH = _FP_DATA_ROOT / "media/0/realdata_HD"
 HD_PATH = _FP_CACHE_ROOT / "use_HD"
 
@@ -183,6 +181,7 @@ CANCEL_BUTTON_MAPPINGS = (
 )
 
 AOL_LKAS_MIGRATION_KEY = "AOLLKASMigratedToButtonControl"
+FORD_LKAS_MIGRATION_KEY = "FordLKASButtonControlMigrated"
 
 
 def sync_reboot_marker(marker_path: Path, enabled: bool, params: Params) -> bool:
@@ -401,6 +400,18 @@ def migrate_aol_lkas_to_button_control(params: Params | None = None) -> bool:
   return True
 
 
+def migrate_ford_lkas_button_default(car_make: str, params: Params | None = None) -> bool:
+  params = params or Params(return_defaults=True)
+  if car_make != "ford" or params.get_bool(FORD_LKAS_MIGRATION_KEY):
+    return False
+
+  if params.get_int("LKASButtonControl") == BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"]:
+    params.put_int("LKASButtonControl", BUTTON_FUNCTIONS["AOL_TOGGLE"])
+
+  params.put_bool(FORD_LKAS_MIGRATION_KEY, True)
+  return True
+
+
 class StarPilotVariables:
   def __init__(self):
     self.params = Params(return_defaults=True)
@@ -419,7 +430,6 @@ class StarPilotVariables:
     self.testing_branch = branch == "StarPilot-Testing"
     self.vetting_branch = branch == "StarPilot-Vetting"
 
-    self.frogs_go_moo = FROGS_GO_MOO_PATH.is_file()
     # Development/vetting branches are no longer gated into dashcam mode.
     toggle.block_user = False
 
@@ -611,6 +621,7 @@ class StarPilotVariables:
 
     alpha_longitudinal = CP.alphaLongitudinalAvailable
     toggle.car_make = CP.brand
+    migrate_ford_lkas_button_default(toggle.car_make, self.params)
     toggle.car_model = CP.carFingerprint
     toggle.disable_openpilot_long = self.get_value("DisableOpenpilotLongitudinal", condition=not alpha_longitudinal)
     friction = CP.lateralTuning.torque.friction
@@ -789,7 +800,10 @@ class StarPilotVariables:
 
     toggle.always_on_lateral = self.get_value("AlwaysOnLateral")
     lkas_button_assigned_to_aol = self.get_button_function("LKASButtonControl") == BUTTON_FUNCTIONS["AOL_TOGGLE"]
-    toggle.always_on_lateral_lkas = toggle.always_on_lateral and toggle.lkas_allowed_for_aol and lkas_button_assigned_to_aol
+    toggle.ford_lkas_aol_toggle = toggle.car_make == "ford" and lkas_button_assigned_to_aol
+    toggle.always_on_lateral_lkas = (
+      toggle.always_on_lateral and toggle.lkas_allowed_for_aol and lkas_button_assigned_to_aol and not toggle.ford_lkas_aol_toggle
+    )
     toggle.always_on_lateral_main = toggle.always_on_lateral and not prohibited_main_aol
     toggle.always_on_lateral_pause_speed = self.get_value("PauseAOLOnBrake", cast=float, condition=toggle.always_on_lateral)
 

starpilot/common/tests/test_starpilot_variables.py

@@ -21,6 +21,10 @@ def test_hyundai_and_honda_keep_lkas_aol_button_path():
   assert spv._lkas_allowed_for_aol("hyundai", spv.HyundaiFlags.CANFD, []) is True
 
 
+def test_ford_can_map_lkas_button_to_aol():
+  assert spv._lkas_allowed_for_aol("ford", 0, []) is True
+
+
 def test_explicit_main_cruise_aol_mapping_is_not_disabled_by_longitudinal_gate():
   aol_button = spv.BUTTON_FUNCTIONS["AOL_TOGGLE"]
 
@@ -130,6 +134,33 @@ class _FakeParams:
     self.bools.pop(key, None)
 
 
+def test_ford_lkas_default_migrates_from_experimental_to_aol_toggle():
+  params = _FakeParams(ints={"LKASButtonControl": spv.BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"]})
+
+  assert spv.migrate_ford_lkas_button_default("ford", params) is True
+  assert params.get_int("LKASButtonControl") == spv.BUTTON_FUNCTIONS["AOL_TOGGLE"]
+  assert params.get_bool(spv.FORD_LKAS_MIGRATION_KEY) is True
+
+  params.put_int("LKASButtonControl", spv.BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"])
+  assert spv.migrate_ford_lkas_button_default("ford", params) is False
+  assert params.get_int("LKASButtonControl") == spv.BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"]
+
+
+def test_ford_lkas_default_migration_preserves_custom_mapping():
+  params = _FakeParams(ints={"LKASButtonControl": spv.BUTTON_FUNCTIONS["BOOKMARK"]})
+
+  assert spv.migrate_ford_lkas_button_default("ford", params) is True
+  assert params.get_int("LKASButtonControl") == spv.BUTTON_FUNCTIONS["BOOKMARK"]
+
+
+def test_ford_lkas_default_migration_ignores_other_brands():
+  params = _FakeParams(ints={"LKASButtonControl": spv.BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"]})
+
+  assert spv.migrate_ford_lkas_button_default("honda", params) is False
+  assert params.get_int("LKASButtonControl") == spv.BUTTON_FUNCTIONS["EXPERIMENTAL_MODE"]
+  assert params.get_bool(spv.FORD_LKAS_MIGRATION_KEY) is False
+
+
 def test_sync_reboot_marker_uses_manager_guard(tmp_path):
   params = _FakeParams()
   marker = tmp_path / "cache" / "use_HD"

starpilot/controls/lib/starpilot_vcruise.py

@@ -545,7 +545,7 @@ class StarPilotVCruise:
     v_ego_cluster = max(sm["carState"].vEgoCluster, v_ego)
     v_ego_diff = v_ego_cluster - v_ego
 
-    # FrogsGoMoo's Curve Speed Controller
+    # Curve Speed Controller
     following_lead = bool(getattr(self.starpilot_planner.starpilot_following, "following_lead", False))
     manual_speed_control = is_manual_speed_control(sm)
     csc_available = (

starpilot/controls/starpilot_card.py

@@ -16,7 +16,6 @@ from openpilot.starpilot.common.experimental_state import (
   sync_manual_ce_state,
 )
 from openpilot.starpilot.common.favorite_slots import FAVORITE_ACTION_TRAFFIC_MODE_COUNTER, toggle_favorite_slot
-from openpilot.starpilot.common.starpilot_utilities import is_FrogsGoMoo
 from openpilot.starpilot.common.starpilot_variables import ERROR_LOGS_PATH, GearShifter, NON_DRIVING_GEARS
 
 HYUNDAI_MAIN_CRUISE_AOL_CONFIRM_TIMEOUT_FRAMES = 100
@@ -74,8 +73,6 @@ class StarPilotCard:
     self._onroad_distance_pressed = False
 
     self.always_on_lateral_set = bool(FPCP.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
-    self.frogs_go_moo = is_FrogsGoMoo()
-
     self.long_press_threshold = CRUISE_LONG_PRESS
     self.very_long_press_threshold = CRUISE_LONG_PRESS * 5
 
@@ -215,6 +212,13 @@ class StarPilotCard:
             self.params_memory.put_bool("SLCAdoptSpeedLimit", True)
 
     cruise_available_changed = self.prev_cruise_available is not None and carState.cruiseState.available != self.prev_cruise_available
+    ford_lateral_session_started = self.CP.brand == "ford" and (
+      (cruise_available_changed and carState.cruiseState.available) or
+      (carState.cruiseState.enabled and not self.prev_cruise_enabled)
+    )
+    if ford_lateral_session_started:
+      self.pause_lateral = False
+
     if self.g70_main_cruise_aol_pending:
       if cruise_available_changed:
         self.always_on_lateral_allowed = carState.cruiseState.available
@@ -256,9 +260,9 @@ class StarPilotCard:
     self.always_on_lateral_enabled &= sm["starpilotPlan"].lateralCheck
     self.always_on_lateral_enabled &= sm["liveCalibration"].calPerc >= 1
     alert_types = sm["selfdriveState"].alertType + sm["starpilotSelfdriveState"].alertType
-    self.always_on_lateral_enabled &= ET.IMMEDIATE_DISABLE not in alert_types or self.frogs_go_moo
+    self.always_on_lateral_enabled &= ET.IMMEDIATE_DISABLE not in alert_types
     self.always_on_lateral_enabled &= not (carState.brakePressed and carState.vEgo < starpilot_toggles.always_on_lateral_pause_speed) or carState.standstill
-    self.always_on_lateral_enabled &= not self.error_log.is_file() or self.frogs_go_moo
+    self.always_on_lateral_enabled &= not self.error_log.is_file()
 
     if sm.updated["starpilotPlan"] or any(be_type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be_type in button_event_types):
       self.accel_pressed = any(be_type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be_type in button_event_types)
@@ -327,7 +331,11 @@ class StarPilotCard:
       self.cancel_pulse_glide_suppressed = False
 
     if lkas_pressed:
-      self.handle_button_event("lkas", sm, starpilot_toggles)
+      if self.CP.brand != "ford" or carState.cruiseState.available:
+        if self.CP.brand == "ford" and getattr(starpilot_toggles, "ford_lkas_aol_toggle", False):
+          self.pause_lateral = not self.pause_lateral
+        else:
+          self.handle_button_event("lkas", sm, starpilot_toggles)
 
     if getattr(starpilot_toggles, "has_canfd_media_buttons", False):
       if starpilotCarState.modePressed:

starpilot/controls/tests/test_starpilot_card.py

@@ -83,6 +83,7 @@ def make_toggles(**overrides):
     "conditional_experimental_mode": False,
     "experimental_mode_via_lkas": False,
     "force_coast_via_lkas": False,
+    "ford_lkas_aol_toggle": False,
     "pulse_and_glide_available": False,
     "pulse_and_glide_via_cancel": False,
     "pulse_and_glide_via_cancel_long": False,
@@ -103,7 +104,6 @@ def make_toggles(**overrides):
 
 def test_pulse_and_glide_requires_developer_access_and_active_longitudinal(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(SimpleNamespace(brand="gm"), SimpleNamespace(alternativeExperience=0))
@@ -128,7 +128,6 @@ def test_pulse_and_glide_requires_developer_access_and_active_longitudinal(monke
 
 def test_pulse_and_glide_consumes_native_cancel_when_mapped(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(SimpleNamespace(brand="gm"), SimpleNamespace(alternativeExperience=0))
@@ -155,7 +154,6 @@ def test_pulse_and_glide_consumes_native_cancel_when_mapped(monkeypatch, tmp_pat
 
 def test_pulse_and_glide_consumes_lkas_when_mapped(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(SimpleNamespace(brand="gm"), SimpleNamespace(alternativeExperience=0))
@@ -177,7 +175,6 @@ def test_pulse_and_glide_consumes_lkas_when_mapped(monkeypatch, tmp_path):
 
 def test_pulse_and_glide_long_cancel_consumes_release_after_threshold(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(SimpleNamespace(brand="gm"), SimpleNamespace(alternativeExperience=0))
@@ -230,7 +227,6 @@ def test_distance_release_normalization_is_limited_to_reported_elantra_hybrid(
     monkeypatch, tmp_path, car_fingerprint, expect_normalized_release,
 ):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -263,7 +259,6 @@ def test_distance_release_normalization_is_limited_to_reported_elantra_hybrid(
 
 def test_honda_lkas_button_can_toggle_always_on_lateral(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(SimpleNamespace(brand="honda"), SimpleNamespace(alternativeExperience=0))
@@ -281,7 +276,6 @@ def test_honda_lkas_button_can_toggle_always_on_lateral(monkeypatch, tmp_path):
 
 def test_hyundai_lkas_button_can_start_aol_before_normal_engagement(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -311,7 +305,6 @@ def test_hyundai_lkas_button_can_start_aol_before_normal_engagement(monkeypatch,
 
 def test_sonata_hybrid_lkas_button_can_start_aol_before_normal_engagement(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -332,7 +325,6 @@ def test_sonata_hybrid_lkas_button_can_start_aol_before_normal_engagement(monkey
 
 def test_sonata_hybrid_preserves_aol_latch_across_reverse(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -363,7 +355,6 @@ def test_sonata_hybrid_preserves_aol_latch_across_reverse(monkeypatch, tmp_path)
 
 def test_hyundai_aol_does_not_auto_start_from_cruise_availability(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -380,7 +371,6 @@ def test_hyundai_aol_does_not_auto_start_from_cruise_availability(monkeypatch, t
 
 def test_genesis_g90_main_aol_can_start_before_set(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -398,7 +388,6 @@ def test_genesis_g90_main_aol_can_start_before_set(monkeypatch, tmp_path):
 
 def test_other_legacy_hyundai_main_aol_still_waits_for_set(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -415,7 +404,6 @@ def test_other_legacy_hyundai_main_aol_still_waits_for_set(monkeypatch, tmp_path
 
 def test_legacy_hyundai_main_aol_waits_for_main_button_permission(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -447,7 +435,6 @@ def test_legacy_hyundai_main_aol_waits_for_main_button_permission(monkeypatch, t
 
 def test_nissan_main_aol_can_start_before_normal_engagement(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -464,7 +451,6 @@ def test_nissan_main_aol_can_start_before_normal_engagement(monkeypatch, tmp_pat
 
 def test_hyundai_canfd_lkas_button_can_toggle_aol_before_engagement(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -485,7 +471,6 @@ def test_hyundai_canfd_lkas_button_can_toggle_aol_before_engagement(monkeypatch,
 
 def test_hyundai_canfd_lkas_button_wrapped_enum_can_toggle_aol(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -510,7 +495,6 @@ def test_hyundai_canfd_lkas_button_wrapped_enum_can_toggle_aol(monkeypatch, tmp_
 
 def test_kia_forte_non_scc_main_cruise_button_toggles_aol_immediately(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -540,7 +524,6 @@ def test_kia_forte_non_scc_main_cruise_button_toggles_aol_immediately(monkeypatc
 
 def test_genesis_g90_main_cruise_button_toggles_aol_immediately(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -566,7 +549,6 @@ def test_genesis_g90_main_cruise_button_toggles_aol_immediately(monkeypatch, tmp
 
 def test_genesis_g70_main_cruise_button_waits_for_cruise_availability(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -604,7 +586,6 @@ def test_genesis_g70_main_cruise_button_waits_for_cruise_availability(monkeypatc
 
 def test_legacy_hyundai_main_cruise_button_toggles_aol_immediately(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -630,7 +611,6 @@ def test_legacy_hyundai_main_cruise_button_toggles_aol_immediately(monkeypatch,
 
 def test_hyundai_main_cruise_button_toggles_aol_immediately(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -655,7 +635,6 @@ def test_hyundai_main_cruise_button_toggles_aol_immediately(monkeypatch, tmp_pat
 
 def test_hyundai_main_cruise_button_wrapped_enum_can_toggle_aol(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -688,7 +667,6 @@ def test_hyundai_main_cruise_button_wrapped_enum_can_toggle_aol(monkeypatch, tmp
 
 def test_hyundai_lda_platform_main_aol_waits_for_engagement_without_lkas_mapping(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -711,7 +689,6 @@ def test_hyundai_lda_platform_main_aol_waits_for_engagement_without_lkas_mapping
 
 def test_honda_mapped_main_cruise_button_keeps_immediate_toggle(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -729,7 +706,6 @@ def test_honda_mapped_main_cruise_button_keeps_immediate_toggle(monkeypatch, tmp
 
 def test_hyundai_main_cruise_button_adopts_slc_when_assigned_to_slc(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(SimpleNamespace(brand="hyundai"), SimpleNamespace(alternativeExperience=0))
@@ -749,7 +725,6 @@ def test_hyundai_main_cruise_button_adopts_slc_when_assigned_to_slc(monkeypatch,
 
 def test_honda_lkas_button_pauses_lateral_when_cruise_is_active(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -776,9 +751,204 @@ def test_honda_lkas_button_pauses_lateral_when_cruise_is_active(monkeypatch, tmp
   assert ret.pauseLateral is False
 
 
+def test_ford_lkas_button_pauses_lateral_when_cruise_is_active(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(
+    SimpleNamespace(brand="ford"),
+    SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
+  )
+  card.always_on_lateral_allowed = True
+
+  car_state = make_car_state(available=True, enabled=True, button_events=[SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)])
+  starpilot_car_state = SimpleNamespace(distancePressed=False)
+  sm = make_sm()
+  sm["selfdriveState"].active = True
+  sm["carControl"].longActive = True
+  toggles = make_toggles(always_on_lateral=True, always_on_lateral_main=True, pause_lateral_via_lkas=True)
+  card.prev_active = True
+
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.pauseLateral is True
+  assert ret.pauseLongitudinal is False
+
+  car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=False)]
+  card.update(car_state, starpilot_car_state, sm, toggles)
+  car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.pauseLateral is False
+  assert ret.pauseLongitudinal is False
+
+
+def test_ford_lkas_button_pauses_aol_with_only_cruise_master_on(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(
+    SimpleNamespace(brand="ford"),
+    SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
+  )
+  starpilot_car_state = SimpleNamespace(distancePressed=False)
+  sm = make_sm()
+  toggles = make_toggles(always_on_lateral=True, always_on_lateral_main=True, pause_lateral_via_lkas=True)
+
+  master_on = make_car_state(available=True, enabled=False)
+  ret = card.update(master_on, starpilot_car_state, sm, toggles)
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.alwaysOnLateralEnabled is True
+
+  master_on.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
+  ret = card.update(master_on, starpilot_car_state, sm, toggles)
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.pauseLateral is True
+  assert ret.pauseLongitudinal is False
+
+  sm["starpilotPlan"].lateralCheck = False
+  master_on.buttonEvents = []
+  ret = card.update(master_on, starpilot_car_state, sm, toggles)
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.alwaysOnLateralEnabled is False
+
+  master_on.cruiseState.available = False
+  master_on.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
+  ret = card.update(master_on, starpilot_car_state, sm, toggles)
+
+  assert ret.alwaysOnLateralAllowed is False
+  assert ret.pauseLateral is True
+
+  sm["starpilotPlan"].lateralCheck = True
+  master_on.cruiseState.available = True
+  master_on.buttonEvents = []
+  ret = card.update(master_on, starpilot_car_state, sm, toggles)
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.alwaysOnLateralEnabled is True
+  assert ret.pauseLateral is False
+
+
+def test_ford_lkas_button_pauses_lateral_when_aol_is_disabled(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(SimpleNamespace(brand="ford"), SimpleNamespace(alternativeExperience=0))
+  car_state = make_car_state(available=True, enabled=True, button_events=[SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)])
+  starpilot_car_state = SimpleNamespace(distancePressed=False)
+  sm = make_sm()
+  sm["selfdriveState"].active = True
+  sm["carControl"].longActive = True
+  toggles = make_toggles(pause_lateral_via_lkas=True)
+  card.prev_active = True
+
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+
+  assert ret.alwaysOnLateralAllowed is False
+  assert ret.pauseLateral is True
+  assert ret.pauseLongitudinal is False
+
+  car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=False)]
+  card.update(car_state, starpilot_car_state, sm, toggles)
+  car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
+  ret = card.update(car_state, starpilot_car_state, sm, toggles)
+
+  assert ret.alwaysOnLateralAllowed is False
+  assert ret.pauseLateral is False
+  assert ret.pauseLongitudinal is False
+
+
+def test_ford_lkas_button_can_use_aol_mapping(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(
+    SimpleNamespace(brand="ford"),
+    SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
+  )
+  car_state = make_car_state(available=True)
+  toggles = make_toggles(always_on_lateral=True, always_on_lateral_main=True, ford_lkas_aol_toggle=True, lkas_allowed_for_aol=True)
+
+  ret = card.update(car_state, SimpleNamespace(distancePressed=False), make_sm(), toggles)
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.pauseLateral is False
+
+  car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
+  ret = card.update(car_state, SimpleNamespace(distancePressed=False), make_sm(), toggles)
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.pauseLateral is True
+
+  car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=False)]
+  card.update(car_state, SimpleNamespace(distancePressed=False), make_sm(), toggles)
+  car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)]
+  ret = card.update(car_state, SimpleNamespace(distancePressed=False), make_sm(), toggles)
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.pauseLateral is False
+
+
+def test_ford_aol_mapping_pauses_lateral_when_aol_is_disabled(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(SimpleNamespace(brand="ford"), SimpleNamespace(alternativeExperience=0))
+  card.prev_cruise_enabled = True
+  car_state = make_car_state(available=True, enabled=True, button_events=[SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)])
+  sm = make_sm()
+  sm["selfdriveState"].active = True
+  sm["carControl"].longActive = True
+
+  ret = card.update(car_state, SimpleNamespace(distancePressed=False), sm, make_toggles(ford_lkas_aol_toggle=True))
+
+  assert ret.alwaysOnLateralAllowed is False
+  assert ret.pauseLateral is True
+  assert ret.pauseLongitudinal is False
+
+
+def test_ford_lkas_button_can_keep_experimental_mapping(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(SimpleNamespace(brand="ford"), SimpleNamespace(alternativeExperience=0))
+  card.prev_cruise_enabled = True
+  car_state = make_car_state(available=True, enabled=True, button_events=[SimpleNamespace(type=spc.ButtonType.lkas, pressed=True)])
+  sm = make_sm()
+  sm["carControl"].longActive = True
+
+  ret = card.update(car_state, SimpleNamespace(distancePressed=False), sm, make_toggles(experimental_mode_via_lkas=True))
+
+  assert card.params.get_bool("ExperimentalMode") is True
+  assert ret.pauseLateral is False
+
+
+def test_ford_new_longitudinal_engagement_resumes_lateral(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(SimpleNamespace(brand="ford"), SimpleNamespace(alternativeExperience=0))
+  card.pause_lateral = True
+
+  car_state = make_car_state(available=True, enabled=True)
+  starpilot_car_state = SimpleNamespace(distancePressed=False)
+  sm = make_sm()
+  sm["selfdriveState"].active = True
+  sm["carControl"].longActive = True
+
+  ret = card.update(car_state, starpilot_car_state, sm, make_toggles())
+
+  assert ret.pauseLateral is False
+  assert ret.pauseLongitudinal is False
+
+
 def test_honda_main_aol_follows_cruise_main_without_manual_aol_button_mapping(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -795,7 +965,6 @@ def test_honda_main_aol_follows_cruise_main_without_manual_aol_button_mapping(mo
 
 def test_hyundai_main_aol_persists_after_brake_disengage_without_manual_aol_button_mapping(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -823,7 +992,6 @@ def test_hyundai_main_aol_persists_after_brake_disengage_without_manual_aol_butt
 
 def test_non_button_aol_platform_keeps_main_aol_when_main_cruise_is_mapped(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -840,7 +1008,6 @@ def test_non_button_aol_platform_keeps_main_aol_when_main_cruise_is_mapped(monke
 
 def test_main_aol_still_follows_cruise_main_for_other_platforms(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(SimpleNamespace(brand="toyota", carFingerprint="TOYOTA_TEST", pcmCruise=True),
@@ -855,7 +1022,6 @@ def test_main_aol_still_follows_cruise_main_for_other_platforms(monkeypatch, tmp
 
 def test_pacifica_hybrid_main_aol_waits_for_set_press(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(
@@ -890,7 +1056,6 @@ def test_pacifica_hybrid_main_aol_waits_for_set_press(monkeypatch, tmp_path):
 
 def test_conditional_chill_wheel_override_cycles_manual_state(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(SimpleNamespace(brand="gm"), SimpleNamespace(alternativeExperience=0))
@@ -907,7 +1072,6 @@ def test_conditional_chill_wheel_override_cycles_manual_state(monkeypatch, tmp_p
 
 def test_cancel_button_short_press_can_run_independent_mapping(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(SimpleNamespace(brand="gm"), SimpleNamespace(alternativeExperience=0))
@@ -933,7 +1097,6 @@ def test_cancel_button_short_press_can_run_independent_mapping(monkeypatch, tmp_
 
 def test_lkas_button_press_creates_bookmark(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(SimpleNamespace(brand="toyota"), SimpleNamespace(alternativeExperience=0))
@@ -946,7 +1109,6 @@ def test_lkas_button_press_creates_bookmark(monkeypatch, tmp_path):
 
 def test_favorite_wheel_action_toggles_hidden_onroad_slot(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(SimpleNamespace(brand="gm"), SimpleNamespace(alternativeExperience=0))
@@ -963,7 +1125,6 @@ def test_favorite_wheel_action_toggles_hidden_onroad_slot(monkeypatch, tmp_path)
 
 def test_favorite_wheel_action_can_press_virtual_resume(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(SimpleNamespace(brand="gm"), SimpleNamespace(alternativeExperience=0))
@@ -978,7 +1139,6 @@ def test_favorite_wheel_action_can_press_virtual_resume(monkeypatch, tmp_path):
 
 def test_favorite_action_toggles_traffic_mode_when_longitudinal_control_is_active(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(SimpleNamespace(brand="gm"), SimpleNamespace(alternativeExperience=0))
@@ -998,7 +1158,6 @@ def test_favorite_action_toggles_traffic_mode_when_longitudinal_control_is_activ
 
 def test_favorite_traffic_mode_action_is_consumed_when_not_active(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
-  monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
 
   card = spc.StarPilotCard(SimpleNamespace(brand="gm"), SimpleNamespace(alternativeExperience=0))

starpilot/system/starpilot_stats.py

@@ -200,10 +200,6 @@ def send_stats():
     build_metadata = get_build_metadata()
     starpilot_toggles = get_starpilot_toggles()
 
-    frogs_go_moo = getattr(starpilot_toggles, "frogs_go_moo", False)
-    if frogs_go_moo:
-      return
-
     if starpilot_toggles.car_make == "mock":
       return