From 0daa1e846bc180aa37aa757848536243a4656be4 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 12 Mar 2024 00:06:02 -0400
Subject: [PATCH] Map: Use `latActive` and `longActive` for navigation path
 color change

---
 selfdrive/ui/qt/maps/map.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index d505e4f5ff..3d6e35f383 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -163,8 +163,9 @@ void MapWindow::updateState(const UIState &s) {
 
   if (sm.updated("modelV2")) {
     // set path color on change, and show map on rising edge of navigate on openpilot
+    auto car_control = sm["carControl"].getCarControl();
     bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() &&
-                       sm["controlsState"].getControlsState().getEnabled();
+                       (car_control.getLatActive() || car_control.getLongActive());
     if (nav_enabled != uiState()->scene.navigate_on_openpilot) {
       if (loaded_once) {
         m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled));