From 89d28689badb3a73e9421ec63e858ab2a5ffe310 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Fri, 10 May 2024 11:24:13 -0700
Subject: [PATCH] Controls - Conditional Experimental Mode - Turn Signal When
 Below Highway Speeds

Switch to 'Experimental Mode' when using turn signals below highway speeds to help assist with turns.
---
 .../frogpilot/controls/lib/conditional_experimental_mode.py   | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py b/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py
index 134a2ea..e2916ac 100644
--- a/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py
+++ b/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py
@@ -58,6 +58,10 @@ class ConditionalExperimentalMode:
       self.status_value = 12 if self.lead_stopped else 13
       return True
 
+    if frogpilot_toggles.conditional_signal and v_ego <= CITY_SPEED_LIMIT and (carState.leftBlinker or carState.rightBlinker):
+      self.status_value = 14
+      return True
+
     if frogpilot_toggles.conditional_curves and self.curve_detected:
       self.status_value = 15
       return True