From 452aa675816b2f82e8baba80d9196993ac4218e6 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 20 Dec 2025 15:20:24 -0500
Subject: [PATCH] DM: fix upstream merge overwrite with `latActive` check
 (#1594)

* Update enabled condition to include latActive

* Todo-sp
---
 selfdrive/monitoring/helpers.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 3377ce6c6..002e01ae3 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -449,7 +449,8 @@ class DriverMonitoring:
       rpyCalib = [0., 0., 0.]
     else:
       highway_speed = sm['carState'].vEgo
-      enabled = sm['selfdriveState'].enabled
+      # TODO-SP: unit test to assert both control checks are always present
+      enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
       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