From 3a44c31bb06f04e93e6295bf8a6c0979fa4c296f 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] Only one lane change per signal

---
 selfdrive/controls/lib/desire_helper.py | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 016909d9..07625ece 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -43,6 +43,8 @@ class DesireHelper:
     self.desire = log.Desire.none
 
     # FrogPilot variables
+    self.lane_change_completed = False
+
     self.lane_change_wait_timer = 0.0
 
   @staticmethod
@@ -87,13 +89,15 @@ class DesireHelper:
           desired_lane_width = frogpilotPlan.laneWidthLeft if self.lane_change_direction == LaneChangeDirection.left else frogpilotPlan.laneWidthRight
           torque_applied &= desired_lane_width >= frogpilot_toggles.lane_detection_width
 
-        if not one_blinker or below_lane_change_speed:
+        if not one_blinker or below_lane_change_speed or self.lane_change_completed:
           self.lane_change_state = LaneChangeState.off
           self.lane_change_direction = LaneChangeDirection.none
         elif torque_applied and not blindspot_detected:
           self.lane_change_state = LaneChangeState.laneChangeStarting
 
           # FrogPilot variables
+          self.lane_change_completed = frogpilot_toggles.one_lane_change
+
           self.lane_change_wait_timer = 0.0
 
         # FrogPilot variables
@@ -141,4 +145,6 @@ class DesireHelper:
 
     # FrogPilot variables
     if not one_blinker:
+      self.lane_change_completed = False
+
       self.lane_change_wait_timer = 0.0