new param BSM RHD

common/params_keys.h

@@ -138,6 +138,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"EnableSpeedLimitControl", {PERSISTENT, BOOL}},
     {"EnableSpeedLimitPredicative", {PERSISTENT, BOOL}},
 	{"BatteryDetails", {PERSISTENT, BOOL}},
+	{"ForceRHDForBSM", {PERSISTENT, BOOL}},
 
     // --- sunnypilot params --- //
     {"ApiCache_DriveStats", {PERSISTENT, JSON}},

selfdrive/controls/controlsd.py

@@ -65,6 +65,7 @@ class Controls(ControlsExt, ModelStateBase):
     self.enable_speed_limit_predicative = self.params.get_bool("EnableSpeedLimitPredicative")
     self.enable_smooth_steer = self.params.get_bool("EnableSmoothSteer")
     self.smooth_steer = PT2Filter(46.0, 1.0, DT_CTRL)
+    self.force_rhd_for_bsm = self.params.get_bool("ForceRHDForBSM")
 
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose | None = None
@@ -95,6 +96,7 @@ class Controls(ControlsExt, ModelStateBase):
       self.enable_smooth_steer = self.params.get_bool("EnableSmoothSteer")
       self.enable_speed_limit_control = self.params.get_bool("EnableSpeedLimitControl")
       self.enable_speed_limit_predicative = self.params.get_bool("EnableSpeedLimitPredicative")
+      self.force_rhd_for_bsm = self.params.get_bool("ForceRHDForBSM")
   
   def state_control(self):
     CS = self.sm['carState']
@@ -188,6 +190,7 @@ class Controls(ControlsExt, ModelStateBase):
 
     CC.curvatureControllerActive = self.enable_curvature_controller # for car controller curvature correction activation
     CC.steerLimited = self.steer_limited_by_safety
+    CC.forceRHDForBSM = self.force_rhd_for_bsm
 
     # Orientation and angle rates can be useful for carcontroller
     # Only calibrated (car) frame is relevant for the carcontroller

selfdrive/ui/qt/offroad/settings.cc

@@ -63,7 +63,14 @@ InfiniteCableTogglesPanel::InfiniteCableTogglesPanel(SettingsWindow *parent) : L
     {
       "DisableScreenTimer",
       tr("Onroad Screen Timeout"),
-      tr("the onroad screen is turned of after 10 seconds. It will be temporarily enabled on alerts"),
+      tr("The onroad screen is turned of after 10 seconds. It will be temporarily enabled on alerts"),
+      "../assets/icons/eye_closed.png",
+      false,
+    },
+	{
+      "ForceRHDForBSM",
+      tr("Force RHD for BSM"),
+      tr("Switch BSM detection side to RHD. Passenger is on the right side."),
       "../assets/icons/eye_closed.png",
       false,
     },