From 1fbaab0b34f15df3baba6460cbac00baab40cca0 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 14 Jun 2023 07:28:45 -0400
Subject: [PATCH] Auto Lane Change: Delay execution with BSM detection
 prerequisites

---
 common/params.cc             | 1 +
 selfdrive/manager/manager.py | 1 +
 2 files changed, 2 insertions(+)

diff --git a/common/params.cc b/common/params.cc
index 7637960e35..dbb20db5aa 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -208,6 +208,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AmapKey1", PERSISTENT},
     {"AmapKey2", PERSISTENT},
     {"AutoLaneChangeTimer", PERSISTENT},
+    {"AutoLaneChangeBsmDelay", PERSISTENT},
     {"BelowSpeedPause", PERSISTENT},
     {"BrakeLights", PERSISTENT},
     {"BrightnessControl", PERSISTENT},
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 5a2d96dc4e..2ef2e14fe7 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -47,6 +47,7 @@ def manager_init() -> None:
 
     ("AccMadsCombo", "1"),
     ("AutoLaneChangeTimer", "0"),
+    ("AutoLaneChangeBsmDelay", "1"),
     ("BelowSpeedPause", "0"),
     ("BrakeLights", "0"),
     ("BrightnessControl", "0"),