From ab487baf0e8ecbb4ca87b18b37e0973b7205f611 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] Dynamic Path Width

---
 selfdrive/ui/qt/onroad/model.cc | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index 3ba3908d..2816f09a 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -111,7 +111,12 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
   }
   max_idx = get_path_length_idx(model_position, max_distance);
   // FrogPilot variables
-  mapLineToPolygon(model_position, frogpilot_toggles.value("model_ui").toBool() ? frogpilot_toggles.value("path_width").toDouble() : 0.9, path_offset_z, &track_vertices, max_idx, false);
+  float path_width = frogpilot_toggles.value("path_width").toDouble();
+  if (frogpilot_toggles.value("dynamic_path_width").toBool()) {
+    UIState *s = uiState();
+    path_width *= s->status == STATUS_ENGAGED ? 1.0f : s->status == STATUS_ALWAYS_ON_LATERAL_ACTIVE ? 0.75f : 0.50f;
+  }
+  mapLineToPolygon(model_position, frogpilot_toggles.value("model_ui").toBool() ? path_width : 0.9, path_offset_z, &track_vertices, max_idx, false);
 
   // FrogPilot variables
   FrogPilotUIState *fs = frogpilotUIState();