Controls - Always On Lateral

Maintain openpilot lateral control when the brake or gas pedals are used. Deactivation occurs only through the 'Cruise Control' button.

Lots of credit goes to "pfeiferj"! Couldn't of done it without him!

https: //github.com/pfeiferj/openpilot
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>

panda/board/safety.h

@@ -552,7 +552,13 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
   bool violation = false;
   uint32_t ts = microsecond_timer_get();
 
+  bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL);
   if (controls_allowed) {
+    // acc main must be on if controls are allowed
+    acc_main_on = controls_allowed;
+  }
+
+  if (controls_allowed || aol_allowed) {
     // *** global torque limit check ***
     violation |= max_limit_check(desired_torque, limits.max_steer, -limits.max_steer);
 
@@ -579,7 +585,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
   }
 
   // no torque if controls is not allowed
-  if (!controls_allowed && (desired_torque != 0)) {
+  if (!(controls_allowed || aol_allowed) && (desired_torque != 0)) {
     violation = true;
   }
 
@@ -621,7 +627,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
   }
 
   // reset to 0 if either controls is not allowed or there's a violation
-  if (violation || !controls_allowed) {
+  if (violation || !(controls_allowed || aol_allowed)) {
     valid_steer_req_count = 0;
     invalid_steer_req_count = 0;
     desired_torque_last = 0;
@@ -636,8 +642,13 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi
 // Safety checks for angle-based steering commands
 bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const SteeringLimits limits) {
   bool violation = false;
+  bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL);
+  if (controls_allowed) {
+    // acc main must be on if controls are allowed
+    acc_main_on = controls_allowed;
+  }
 
-  if (controls_allowed && steer_control_enabled) {
+  if ((controls_allowed || aol_allowed) && steer_control_enabled) {
     // convert floating point angle rate limits to integers in the scale of the desired angle on CAN,
     // add 1 to not false trigger the violation. also fudge the speed by 1 m/s so rate limits are
     // always slightly above openpilot's in case we read an updated speed in between angle commands
@@ -680,7 +691,7 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const
   }
 
   // No angle control allowed when controls are not allowed
-  violation |= !controls_allowed && steer_control_enabled;
+  violation |= !(controls_allowed || aol_allowed) && steer_control_enabled;
 
   return violation;
 }

panda/board/safety/safety_chrysler.h

@@ -185,6 +185,7 @@ static void chrysler_rx_hook(const CANPacket_t *to_push) {
   // enter controls on rising edge of ACC, exit controls on ACC off
   const int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 2;
   if ((bus == das_3_bus) && (addr == chrysler_addrs->DAS_3)) {
+    acc_main_on = GET_BIT(to_push, 20U);
     bool cruise_engaged = GET_BIT(to_push, 21U);
     pcm_cruise_check(cruise_engaged);
   }

panda/board/safety/safety_ford.h

@@ -245,6 +245,7 @@ static void ford_rx_hook(const CANPacket_t *to_push) {
 
       // Signal: CcStat_D_Actl
       unsigned int cruise_state = GET_BYTE(to_push, 1) & 0x07U;
+      acc_main_on = (cruise_state == 3U) ||(cruise_state == 4U) || (cruise_state == 5U);
       bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U);
       pcm_cruise_check(cruise_engaged);
     }

panda/board/safety/safety_gm.h

@@ -144,7 +144,11 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     }
 
     if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
-      brake_pressed = GET_BIT(to_push, 40U);
+      brake_pressed = GET_BIT(to_push, 40U) != 0U;
+    }
+
+    if (addr == 0xC9) {
+      acc_main_on = GET_BIT(to_push, 29U) != 0U;
     }
 
     if (addr == 0x1C4) {

panda/board/safety/safety_honda.h

@@ -339,7 +339,8 @@ static bool honda_tx_hook(const CANPacket_t *to_send) {
 
   // STEER: safety check
   if ((addr == 0xE4) || (addr == 0x194)) {
-    if (!controls_allowed) {
+    bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS);
+    if (!(controls_allowed || aol_allowed)) {
       bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1);
       if (steer_applied) {
         tx = false;

panda/board/safety/safety_hyundai_common.h

@@ -63,6 +63,10 @@ void hyundai_common_cruise_state_check(const bool cruise_engaged) {
 }
 
 void hyundai_common_cruise_buttons_check(const int cruise_button, const bool main_button) {
+  if (main_button && main_button != cruise_main_prev) {
+    acc_main_on = !acc_main_on;
+  }
+  cruise_main_prev = main_button;
   if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) || main_button) {
     hyundai_last_button_interaction = 0U;
   } else {

panda/board/safety/safety_mazda.h

@@ -52,6 +52,7 @@ static void mazda_rx_hook(const CANPacket_t *to_push) {
 
     // enter controls on rising edge of ACC, exit controls on ACC off
     if (addr == MAZDA_CRZ_CTRL) {
+      acc_main_on = GET_BIT(to_push, 17U);
       bool cruise_engaged = GET_BYTE(to_push, 0) & 0x8U;
       pcm_cruise_check(cruise_engaged);
     }

panda/board/safety/safety_nissan.h

@@ -21,6 +21,8 @@ const CanMsg NISSAN_TX_MSGS[] = {
 
 // Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
 RxCheck nissan_rx_checks[] = {
+  {.msg = {{0x1b6, 0, 8, .frequency = 100U},
+         {0x1b6, 1, 8, .frequency = 100U}, { 0 }}},  // PRO_PILOT (100HZ)
   {.msg = {{0x2, 0, 5, .frequency = 100U},
            {0x2, 1, 5, .frequency = 100U}, { 0 }}},  // STEER_ANGLE_SENSOR
   {.msg = {{0x285, 0, 8, .frequency = 50U},
@@ -64,11 +66,16 @@ static void nissan_rx_hook(const CANPacket_t *to_push) {
       UPDATE_VEHICLE_SPEED((right_rear + left_rear) / 2.0 * 0.005 / 3.6);
     }
 
+    if (addr == 0x1b6) {
+      acc_main_on = GET_BIT(to_push, 36U);
+    }
+
     // X-Trail 0x15c, Leaf 0x239
     if ((addr == 0x15c) || (addr == 0x239)) {
       if (addr == 0x15c){
         gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3U)) > 3U;
       } else {
+        acc_main_on = GET_BIT(to_push, 17U);
         gas_pressed = GET_BYTE(to_push, 0) > 3U;
       }
     }

panda/board/safety/safety_subaru.h

@@ -152,6 +152,7 @@ static void subaru_rx_hook(const CANPacket_t *to_push) {
 
   // enter controls on rising edge of ACC, exit controls on ACC off
   if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_main_bus)) {
+    acc_main_on = GET_BIT(to_push, 40U);
     bool cruise_engaged = GET_BIT(to_push, 41U);
     pcm_cruise_check(cruise_engaged);
   }

panda/board/safety/safety_subaru_preglobal.h

@@ -56,6 +56,7 @@ static void subaru_preglobal_rx_hook(const CANPacket_t *to_push) {
 
     // enter controls on rising edge of ACC, exit controls on ACC off
     if (addr == MSG_SUBARU_PG_CruiseControl) {
+      acc_main_on = GET_BIT(to_push, 48U);
       bool cruise_engaged = GET_BIT(to_push, 49U);
       pcm_cruise_check(cruise_engaged);
     }

panda/board/safety/safety_tesla.h

@@ -100,6 +100,14 @@ static void tesla_rx_hook(const CANPacket_t *to_push) {
     if(addr == (tesla_powertrain ? 0x256 : 0x368)) {
       // Cruise state
       int cruise_state = (GET_BYTE(to_push, 1) >> 4);
+
+      acc_main_on = (cruise_state == 1) ||  // STANDBY
+        (cruise_state == 2) ||  // ENABLED
+        (cruise_state == 3) ||  // STANDSTILL
+        (cruise_state == 4) ||  // OVERRIDE
+        (cruise_state == 6) ||  // PRE_FAULT
+        (cruise_state == 7);    // PRE_CANCEL
+
       bool cruise_engaged = (cruise_state == 2) ||  // ENABLED
                             (cruise_state == 3) ||  // STANDSTILL
                             (cruise_state == 4) ||  // OVERRIDE

panda/board/safety/safety_toyota.h

@@ -53,6 +53,7 @@ const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 805;
   {0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4},  /* DSU bus 1 */                                               \
   {0x411, 0, 8},  /* PCS_HUD */                                                                                                             \
   {0x750, 0, 8},  /* radar diagnostic address */                                                                                            \
+  {0x1D3, 0, 8},                                                                                                                            \
 
 const CanMsg TOYOTA_TX_MSGS[] = {
   TOYOTA_COMMON_TX_MSGS
@@ -71,6 +72,7 @@ const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = {
   {.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}},                        \
   {.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}},  \
   {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}},                         \
+  {.msg = {{0x1D3, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}},                         \
   {.msg = {{0x224, 0, 8, .check_checksum = false, .frequency = 40U},                                        \
            {0x226, 0, 8, .check_checksum = false, .frequency = 40U}, { 0 }}},                               \
 
@@ -176,6 +178,9 @@ static void toyota_rx_hook(const CANPacket_t *to_push) {
         update_sample(&angle_meas, angle_meas_new);
       }
     }
+    if (addr == 0x1D3) {
+      acc_main_on = GET_BIT(to_push, 15U);
+    }
 
     // enter controls on rising edge of ACC, exit controls on ACC off
     // exit controls on rising edge of gas press

panda/board/safety_declarations.h

@@ -224,6 +224,7 @@ struct sample_t vehicle_speed;
 bool vehicle_moving = false;
 bool acc_main_on = false;  // referred to as "ACC off" in ISO 15622:2018
 int cruise_button_prev = 0;
+int cruise_main_prev = 0;
 bool safety_rx_checks_invalid = false;
 
 // for safety modes with torque steering control
@@ -269,3 +270,6 @@ int alternative_experience = 0;
 uint32_t safety_mode_cnt = 0U;
 // allow 1s of transition timeout after relay changes state before assessing malfunctioning
 const uint32_t RELAY_TRNS_TIMEOUT = 1U;
+
+// Always on Lateral
+#define ALT_EXP_ALWAYS_ON_LATERAL 32

panda/python/__init__.py

@@ -111,6 +111,7 @@ class ALTERNATIVE_EXPERIENCE:
   DISABLE_STOCK_AEB = 2
   RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
   ALLOW_AEB = 16
+  ALWAYS_ON_LATERAL = 32
 
 class Panda:
 

selfdrive/car/card.py

@@ -54,6 +54,10 @@ class CarD:
     if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
+    self.always_on_lateral = self.params.get_bool("AlwaysOnLateral")
+    if self.always_on_lateral:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
+
     car_recognized = self.CP.carName != 'mock'
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 

selfdrive/car/chrysler/carcontroller.py

@@ -43,7 +43,7 @@ class CarController(CarControllerBase):
     if self.frame % 25 == 0:
       if CS.lkas_car_model != -1:
         can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert,
-                                                     self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
+                                                     self.hud_count, CS.lkas_car_model, CS.auto_high_beam, CC.latActive))
         self.hud_count += 1
 
     # steering

selfdrive/car/chrysler/chryslercan.py

@@ -4,7 +4,7 @@ from openpilot.selfdrive.car.chrysler.values import RAM_CARS
 GearShifter = car.CarState.GearShifter
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
+def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam, lat_active):
   # LKAS_HUD - Controls what lane-keeping icon is displayed
 
   # == Color ==
@@ -27,7 +27,7 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au
   # 7 Normal
   # 6 lane departure place hands on wheel
 
-  color = 2 if lkas_active else 1
+  color = 2 if lkas_active else 1 if lat_active else 0
   lines = 3 if lkas_active else 0
   alerts = 7 if lkas_active else 0
 
@@ -48,6 +48,7 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au
 
   if CP.carFingerprint in RAM_CARS:
     values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
+    values['LKAS_DISABLED'] = 0 if lat_active else 1
 
   return packer.make_can_msg("DAS_6", 0, values)
 

selfdrive/car/honda/carcontroller.py

@@ -252,7 +252,7 @@ class CarController(CarControllerBase):
     if self.frame % 10 == 0:
       hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
                     hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud, CC.latActive))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed

selfdrive/car/honda/hondacan.py

@@ -140,7 +140,7 @@ def create_bosch_supplemental_1(packer, CAN, car_fingerprint):
   return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
 
 
-def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
+def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud, lat_active):
   commands = []
   radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
   bus_lkas = get_lkas_cmd_bus(CAN, CP.carFingerprint, radar_disabled)
@@ -175,7 +175,7 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
   lkas_hud_values = {
     'SET_ME_X41': 0x41,
     'STEERING_REQUIRED': hud.steer_required,
-    'SOLID_LANES': hud.lanes_visible,
+    'SOLID_LANES': lat_active,
     'BEEP': 0,
   }
 

selfdrive/car/hyundai/carcontroller.py

@@ -118,7 +118,7 @@ class CarController(CarControllerBase):
 
       # LFA and HDA icons
       if self.frame % 5 == 0 and (not hda2 or hda2_long):
-        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive))
 
       # blinkers
       if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
@@ -149,11 +149,11 @@ class CarController(CarControllerBase):
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
         can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
                                                         hud_control, set_speed_in_units, stopping,
-                                                        CC.cruiseControl.override, use_fca))
+                                                        CC.cruiseControl.override, use_fca, CS.out.cruiseState.available))
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
-        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
+        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, CC.latActive))
 
       # 5 Hz ACC options
       if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:

selfdrive/car/hyundai/carstate.py

@@ -52,6 +52,9 @@ class CarState(CarStateBase):
 
     self.params = CarControllerParams(CP)
 
+    # FrogPilot variables
+    self.main_enabled = False
+
   def update(self, cp, cp_cam, frogpilot_variables):
     if self.CP.carFingerprint in CANFD_CAR:
       return self.update_canfd(cp, cp_cam, frogpilot_variables)
@@ -103,7 +106,7 @@ class CarState(CarStateBase):
     # cruise state
     if self.CP.openpilotLongitudinalControl:
       # These are not used for engage/disengage since openpilot keeps track of state using the buttons
-      ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
+      ret.cruiseState.available = self.main_enabled
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
       ret.cruiseState.nonAdaptive = False
@@ -163,7 +166,10 @@ class CarState(CarStateBase):
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
+    self.prev_main_buttons = self.main_buttons[-1]
     self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
+    if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
+      self.main_enabled = not self.main_enabled
 
     return ret, fp_ret
 
@@ -219,7 +225,7 @@ class CarState(CarStateBase):
 
     # cruise state
     # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
-    ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
+    ret.cruiseState.available = self.main_enabled
     if self.CP.openpilotLongitudinalControl:
       # These are not used for engage/disengage since openpilot keeps track of state using the buttons
       ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
@@ -240,7 +246,10 @@ class CarState(CarStateBase):
 
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
+    self.prev_main_buttons = self.main_buttons[-1]
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
+      self.main_enabled = not self.main_enabled
     self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
     ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 

selfdrive/car/hyundai/hyundaican.py

@@ -117,20 +117,20 @@ def create_clu11(packer, frame, clu11, button, CP):
   return packer.make_can_msg("CLU11", bus, values)
 
 
-def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
+def create_lfahda_mfc(packer, enabled, lat_active, hda_set_speed=0):
   values = {
-    "LFA_Icon_State": 2 if enabled else 0,
+    "LFA_Icon_State": 2 if lat_active else 0,
     "HDA_Active": 1 if hda_set_speed else 0,
     "HDA_Icon_State": 2 if hda_set_speed else 0,
     "HDA_VSetReq": hda_set_speed,
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, cruise_available):
   commands = []
 
   scc11_values = {
-    "MainMode_ACC": 1,
+    "MainMode_ACC": 1 if cruise_available else 0,
     "TauGapSet": hud_control.leadDistanceBars,
     "VSetDis": set_speed if enabled else 0,
     "AliveCounterACC": idx % 0x10,

selfdrive/car/hyundai/hyundaicanfd.py

@@ -41,7 +41,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
 
   values = {
     "LKA_MODE": 2,
-    "LKA_ICON": 2 if enabled else 1,
+    "LKA_ICON": 2 if enabled else 1 if lat_active else 0,  # HDA2
     "TORQUE_REQUEST": apply_steer,
     "LKA_ASSIST": 0,
     "STEER_REQ": 1 if lat_active else 0,
@@ -113,10 +113,10 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
   })
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
-def create_lfahda_cluster(packer, CAN, enabled):
+def create_lfahda_cluster(packer, CAN, enabled, lat_active):
   values = {
     "HDA_ICON": 1 if enabled else 0,
-    "LFA_ICON": 2 if enabled else 0,
+    "LFA_ICON": 2 if enabled else 1 if lat_active else 0,  # HDA1
   }
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 

selfdrive/car/nissan/carcontroller.py

@@ -68,7 +68,7 @@ class CarController(CarControllerBase):
     if self.CP.carFingerprint != CAR.ALTIMA:
       if self.frame % 2 == 0:
         can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                       hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+                                                       hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.latActive))
 
       if self.frame % 50 == 0:
         can_sends.append(nissancan.create_lkas_hud_info_msg(

selfdrive/car/nissan/nissancan.py

@@ -65,7 +65,7 @@ def create_cancel_msg(packer, cancel_msg, cruise_cancel):
   return packer.make_can_msg("CANCEL_MSG", 2, values)
 
 
-def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart, lat_active):
   values = {s: lkas_hud_msg[s] for s in [
     "LARGE_WARNING_FLASHING",
     "SIDE_RADAR_ERROR_FLASHING1",
@@ -98,9 +98,9 @@ def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, le
   values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0
   values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0
 
-  values["LARGE_STEERING_WHEEL_ICON"] = 2 if enabled else 0
+  values["LARGE_STEERING_WHEEL_ICON"] = 2 if lat_active else 0
-  values["RIGHT_LANE_GREEN"] = 1 if right_line and enabled else 0
+  values["RIGHT_LANE_GREEN"] = 1 if right_line and lat_active else 0
-  values["LEFT_LANE_GREEN"] = 1 if left_line and enabled else 0
+  values["LEFT_LANE_GREEN"] = 1 if left_line and lat_active else 0
 
   return packer.make_can_msg("PROPILOT_HUD", 0, values)
 

selfdrive/car/subaru/carcontroller.py

@@ -100,7 +100,7 @@ class CarController(CarControllerBase):
 
         can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
                                                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                        hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+                                                        hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.latActive))
 
         if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
           can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))

selfdrive/car/subaru/subarucan.py

@@ -66,7 +66,7 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long
   return packer.make_can_msg("ES_Distance", bus, values)
 
 
-def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart, lat_active):
   values = {s: es_lkas_state_msg[s] for s in [
     "CHECKSUM",
     "LKAS_Alert_Msg",
@@ -118,9 +118,11 @@ def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert
     elif right_lane_depart:
       values["LKAS_Alert"] = 11  # Right lane departure dash alert
 
-  if enabled:
+  if lat_active:
     values["LKAS_ACTIVE"] = 1  # Show LKAS lane lines
     values["LKAS_Dash_State"] = 2  # Green enabled indicator
+    values["LKAS_Left_Line_Enable"] = 1
+    values["LKAS_Right_Line_Enable"] = 1
   else:
     values["LKAS_Dash_State"] = 0  # LKAS Not enabled
 

selfdrive/car/toyota/carcontroller.py

@@ -195,7 +195,7 @@ class CarController(CarControllerBase):
       if self.frame % 20 == 0 or send_ui:
         can_sends.append(toyotacan.create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
                                                      hud_control.rightLaneVisible, hud_control.leftLaneDepart,
-                                                     hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))
+                                                     hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud, lat_active))
 
       if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
         can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert))

selfdrive/car/toyota/toyotacan.py

@@ -73,12 +73,12 @@ def create_fcw_command(packer, fcw):
   return packer.make_can_msg("PCS_HUD", 0, values)
 
 
-def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud):
+def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud, lat_active):
   values = {
     "TWO_BEEPS": chime,
     "LDA_ALERT": steer,
-    "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
+    "RIGHT_LINE": 0 if not lat_active else 3 if right_lane_depart else 1 if right_line else 2,
-    "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
+    "LEFT_LINE": 0 if not lat_active else 3 if left_lane_depart else 1 if left_line else 2,
     "BARRIERS": 1 if enabled else 0,
 
     # static signals

selfdrive/car/volkswagen/carcontroller.py

@@ -92,7 +92,7 @@ class CarController(CarControllerBase):
       if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
         hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
       can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
-                                                       CS.out.steeringPressed, hud_alert, hud_control))
+                                                       CS.out.steeringPressed, hud_alert, hud_control, CC.latActive))
 
     if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
       lead_distance = 0

selfdrive/car/volkswagen/mqbcan.py

@@ -28,7 +28,7 @@ def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque):
   return packer.make_can_msg("LH_EPS_03", bus, values)
 
 
-def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
+def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control, lat_active):
   values = {}
   if len(ldw_stock_values):
     values = {s: ldw_stock_values[s] for s in [
@@ -40,8 +40,8 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
     ]}
 
   values.update({
-    "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
+    "LDW_Status_LED_gelb": 1 if lat_active and steering_pressed else 0,
-    "LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
+    "LDW_Status_LED_gruen": 1 if lat_active and not steering_pressed else 0,
     "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
     "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
     "LDW_Texte": hud_alert,

selfdrive/car/volkswagen/pqcan.py

@@ -9,7 +9,7 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled):
   return packer.make_can_msg("HCA_1", bus, values)
 
 
-def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
+def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control, lat_active):
   values = {}
   if len(ldw_stock_values):
     values = {s: ldw_stock_values[s] for s in [
@@ -21,8 +21,8 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
     ]}
 
   values.update({
-    "LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0,
+    "LDW_Lampe_gelb": 1 if lat_active and steering_pressed else 0,
-    "LDW_Lampe_gruen": 1 if enabled and not steering_pressed else 0,
+    "LDW_Lampe_gruen": 1 if lat_active and not steering_pressed else 0,
     "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
     "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
     "LDW_Textbits": hud_alert,

selfdrive/controls/controlsd.py

@@ -551,6 +551,9 @@ class Controls:
     if self.active:
       self.current_alert_types.append(ET.WARNING)
 
+    if self.FPCC.alwaysOnLateral:
+      self.current_alert_types.append(ET.WARNING)
+
   def state_control(self, CS):
     """Given the state, this function returns a CarControl packet"""
 
@@ -575,7 +578,7 @@ class Controls:
 
     # Check which actuators can be enabled
     standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
-    CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
+    CC.latActive = (self.active or self.FPCC.alwaysOnLateral) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.joystick_mode)
     CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
 
@@ -913,6 +916,12 @@ class Controls:
   def update_frogpilot_variables(self, CS):
     self.driving_gear = CS.gearShifter not in (GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown)
 
+    self.FPCC.alwaysOnLateral |= CS.cruiseState.enabled or self.frogpilot_toggles.always_on_lateral_main
+    self.FPCC.alwaysOnLateral &= CS.cruiseState.available
+    self.FPCC.alwaysOnLateral &= self.card.always_on_lateral
+    self.FPCC.alwaysOnLateral &= self.driving_gear
+    self.FPCC.alwaysOnLateral &= not (CS.brakePressed and CS.vEgo < self.frogpilot_toggles.always_on_lateral_pause_speed) or CS.standstill
+
     self.drive_distance += CS.vEgo * DT_CTRL
     self.drive_time += DT_CTRL
 

selfdrive/ui/qt/maps/map.cc

@@ -165,7 +165,7 @@ 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
     bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() &&
-                       sm["controlsState"].getControlsState().getEnabled();
+                       (sm["controlsState"].getControlsState().getEnabled() || sm["frogpilotCarControl"].getFrogpilotCarControl().getAlwaysOnLateral());
     if (nav_enabled != uiState()->scene.navigate_on_openpilot) {
       if (loaded_once) {
         m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled));

selfdrive/ui/qt/offroad/settings.cc

@@ -157,6 +157,9 @@ void TogglesPanel::showEvent(QShowEvent *event) {
 }
 
 void TogglesPanel::updateToggles() {
+  auto disengage_on_accelerator_toggle = toggles["DisengageOnAccelerator"];
+  disengage_on_accelerator_toggle->setVisible(!params.getBool("AlwaysOnLateral"));
+
   auto experimental_mode_toggle = toggles["ExperimentalMode"];
   auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
   const QString e2e_description = QString("%1<br>"

selfdrive/ui/qt/onroad.cc

@@ -171,7 +171,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 
   int margin = 40;
   int radius = 30;
-  int offset = true ? 25 : 0;
+  int offset = scene.show_aol_status_bar ? 25 : 0;
   if (alert.size == cereal::ControlsState::AlertSize::FULL) {
     margin = 0;
     radius = 0;
@@ -236,7 +236,7 @@ void ExperimentalButton::changeMode() {
 
 void ExperimentalButton::updateState(const UIState &s) {
   const auto cs = (*s.sm)["controlsState"].getControlsState();
-  bool eng = cs.getEngageable() || cs.getEnabled();
+  bool eng = cs.getEngageable() || cs.getEnabled() || scene.always_on_lateral_active;
   if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
     engageable = eng;
     experimental_mode = cs.getExperimentalMode();
@@ -544,7 +544,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
   // base icon
   int offset = UI_BORDER_SIZE + btn_size / 2;
   int x = rightHandDM ? width() - offset : offset;
-  offset += true ? 25 : 0;
+  offset += showAlwaysOnLateralStatusBar ? 25 : 0;
   int y = height() - offset;
   float opacity = dmActive ? 0.65 : 0.2;
   drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity);
@@ -749,13 +749,16 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
 
   alertSize = scene.alert_size;
 
+  alwaysOnLateralActive = scene.always_on_lateral_active;
+  showAlwaysOnLateralStatusBar = scene.show_aol_status_bar;
+
   experimentalMode = scene.experimental_mode;
 
   mapOpen = scene.map_open;
 }
 
 void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
-  if (true) {
+  if (showAlwaysOnLateralStatusBar) {
     drawStatusBar(p);
   }
 
@@ -786,6 +789,10 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
   p.setOpacity(1.0);
   p.drawRoundedRect(statusBarRect, 30, 30);
 
+  if (alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
+    newStatus = tr("Always On Lateral active") + (mapOpen ? "" : tr(". Press the \"Cruise Control\" button to disable"));
+  }
+
   if (newStatus != lastShownStatus) {
     displayStatusText = true;
     lastShownStatus = newStatus;

selfdrive/ui/qt/onroad.h

@@ -118,8 +118,10 @@ private:
 
   QHBoxLayout *bottom_layout;
 
+  bool alwaysOnLateralActive;
   bool experimentalMode;
   bool mapOpen;
+  bool showAlwaysOnLateralStatusBar;
 
   float accelerationConversion;
   float distanceConversion;

selfdrive/ui/ui.cc

@@ -223,6 +223,7 @@ static void update_state(UIState *s) {
   }
   if (sm.updated("frogpilotCarControl")) {
     auto frogpilotCarControl = sm["frogpilotCarControl"].getFrogpilotCarControl();
+    scene.always_on_lateral_active = !scene.enabled && frogpilotCarControl.getAlwaysOnLateral();
   }
   if (sm.updated("frogpilotCarState")) {
     auto frogpilotCarState = sm["frogpilotCarState"].getFrogpilotCarState();
@@ -259,6 +260,9 @@ void ui_update_params(UIState *s) {
 void ui_update_frogpilot_params(UIState *s) {
   Params params = Params();
   UIScene &scene = s->scene;
+
+  bool always_on_lateral = params.getBool("AlwaysOnLateral");
+  scene.show_aol_status_bar = always_on_lateral && !params.getBool("HideAOLStatusBar");
 }
 
 void UIState::updateStatus() {
@@ -267,6 +271,8 @@ void UIState::updateStatus() {
     auto state = controls_state.getState();
     if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) {
       status = STATUS_OVERRIDE;
+    } else if (scene.always_on_lateral_active) {
+      status = STATUS_ALWAYS_ON_LATERAL_ACTIVE;
     } else {
       status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
     }

selfdrive/ui/ui.h

@@ -115,6 +115,7 @@ typedef enum UIStatus {
   STATUS_ENGAGED,
 
   // FrogPilot statuses
+  STATUS_ALWAYS_ON_LATERAL_ACTIVE,
   STATUS_EXPERIMENTAL_MODE_ACTIVE,
   STATUS_NAVIGATION_ACTIVE,
 } UIStatus;
@@ -135,6 +136,7 @@ const QColor bg_colors [] = {
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
 
   // FrogPilot colors
+  [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(0x0a, 0xba, 0xb5, 0xf1),
   [STATUS_EXPERIMENTAL_MODE_ACTIVE] = QColor(0xda, 0x6f, 0x25, 0xf1),
   [STATUS_NAVIGATION_ACTIVE] = QColor(0x31, 0xa1, 0xee, 0xf1),
 };
@@ -180,12 +182,14 @@ typedef struct UIScene {
   uint64_t started_frame;
 
   // FrogPilot variables
+  bool always_on_lateral_active;
   bool enabled;
   bool experimental_mode;
   bool map_open;
   bool online;
   bool parked;
   bool right_hand_drive;
+  bool show_aol_status_bar;
   bool tethering_enabled;
 
   int alert_size;