Merge branch 'pre-vag' into pre

selfdrive/car/card.py

@@ -111,6 +111,15 @@ class Car:
       if self.params.get_bool("dp_toyota_stock_lon"):
         dp_params |= structs.DPFlags.ToyotaStockLon
 
+      if self.params.get_bool("dp_vag_a0_sng"):
+        dp_params |= structs.DPFlags.VagA0SnG
+
+      if self.params.get_bool("dp_vag_pq_steering_patch"):
+        dp_params |= structs.DPFlags.VAGPQSteeringPatch
+
+      if self.params.get_bool("dp_vag_avoid_eps_lockout"):
+        dp_params |= structs.DPFlags.VagAvoidEPSLockout
+
       self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, dp_params, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP

selfdrive/controls/lib/latcontrol.py

@@ -2,8 +2,9 @@ import numpy as np
 from abc import abstractmethod, ABC
 
 from openpilot.common.realtime import DT_CTRL
+from openpilot.common.params import Params
 
-MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
+MIN_LATERAL_CONTROL_SPEED = 2.5 if Params().get_bool("dp_vag_avoid_eps_lockout") else 0.3  # m/s
 
 
 class LatControl(ABC):

selfdrive/ui/qt/offroad/dp_panel.cc

@@ -55,6 +55,21 @@ void DPPanel::add_vag_toggles() {
       QString::fromUtf8("🐉 ") + tr("VW / Audi / Skoda"),
       "",
     },
+    {
+      "dp_vag_a0_sng",
+      tr("Enable MQB A0 SnG Mod"),
+      "",
+    },
+    {
+      "dp_vag_pq_steering_patch",
+      tr("PQ Steering Patch"),
+      ""
+    },
+    {
+      "dp_vag_avoid_eps_lockout",
+      tr("Avoid EPS Lockout"),
+      "",
+    },
   };
 
   QWidget *label = nullptr;