Pause lateral control with turn signal

Added toggle to pause lateral control when a turn signal is active below a set speed.

common/params.cc

@@ -325,6 +325,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"OSMDownloadProgress", CLEAR_ON_MANAGER_START},
     {"PathEdgeWidth", PERSISTENT},
     {"PathWidth", PERSISTENT},
+    {"PauseLateralOnSignal", PERSISTENT},
     {"PreferredSchedule", PERSISTENT},
     {"PromptVolume", PERSISTENT},
     {"PromptDistractedVolume", PERSISTENT},

selfdrive/controls/controlsd.py

@@ -756,6 +756,8 @@ class Controls:
     # Gear Check
     self.driving_gear = CS.gearShifter not in (GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown)
 
+    signal_check = not ((CS.leftBlinker or CS.rightBlinker) and CS.vEgo < self.pause_lateral_on_signal and not CS.standstill)
+
     # Always on lateral
     self.FPCC.alwaysOnLateral |= CS.cruiseState.enabled or self.always_on_lateral_main
     self.FPCC.alwaysOnLateral &= self.always_on_lateral
@@ -768,7 +770,7 @@ 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 or self.FPCC.alwaysOnLateral) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
+    CC.latActive = (self.active or self.FPCC.alwaysOnLateral) and signal_check and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.joystick_mode) and not self.openpilot_crashed
     CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl and not self.openpilot_crashed
 
@@ -1104,6 +1106,7 @@ class Controls:
     self.lane_detection_width = self.params.get_int("LaneDetectionWidth") * (1 if self.is_metric else CV.FOOT_TO_METER) / 10 if self.lane_detection else 0
 
     quality_of_life = self.params.get_bool("QOLControls")
+    self.pause_lateral_on_signal = self.params.get_int("PauseLateralOnSignal") * (CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS) if quality_of_life else 0
     self.frogpilot_variables.reverse_cruise_increase = quality_of_life and self.params.get_bool("ReverseCruise")
 
 def main():

selfdrive/frogpilot/ui/control_settings.cc

@@ -53,6 +53,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"DisableOnroadUploads", "Disable Onroad Uploads", "Prevent large data uploads when onroad.", ""},
     {"HigherBitrate", "Higher Bitrate Recording", "Increases the quality of the footage uploaded to comma connect.", ""},
     {"NavChill", "Navigate on Chill Mode", "Allows cars without longitudinal support to navigate. Allows navigation without experimental mode.", ""},
+    {"PauseLateralOnSignal", "Pause Lateral On Turn Signal Below", "Temporarily disable lateral control during turn signal use below the set speed.", ""},
     {"ReverseCruise", "Reverse Cruise Increase", "Reverses the 'long press' functionality when increasing the max set speed. Useful to increase the max speed quickly.", ""},
   };
 
@@ -281,6 +282,8 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
         }
       });
       toggle = qolToggle;
+    } else if (param == "PauseLateralOnSignal") {
+      toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, std::map<int, QString>(), this, false, " mph");
     } else if (param == "ReverseCruise") {
       std::vector<QString> reverseCruiseToggles{"ReverseCruiseUI"};
       std::vector<QString> reverseCruiseNames{tr("Control Via UI")};
@@ -388,29 +391,34 @@ void FrogPilotControlsPanel::updateMetric() {
     params.putIntNonBlocking("CESpeedLead", std::nearbyint(params.getInt("CESpeedLead") * speedConversion));
     params.putIntNonBlocking("LaneDetectionWidth", std::nearbyint(params.getInt("LaneDetectionWidth") * distanceConversion));
     params.putIntNonBlocking("MTSCLimit", std::nearbyint(params.getInt("MTSCLimit") * speedConversion));
+    params.putIntNonBlocking("PauseLateralOnSignal", std::nearbyint(params.getInt("PauseLateralOnSignal") * speedConversion));
     params.putIntNonBlocking("StoppingDistance", std::nearbyint(params.getInt("StoppingDistance") * distanceConversion));
   }
 
   FrogPilotParamValueControl *laneWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["LaneDetectionWidth"]);
   FrogPilotParamValueControl *mtscLimitToggle = static_cast<FrogPilotParamValueControl*>(toggles["MTSCLimit"]);
+  FrogPilotParamValueControl *pauseLateralToggle = static_cast<FrogPilotParamValueControl*>(toggles["PauseLateralOnSignal"]);
   FrogPilotParamValueControl *stoppingDistanceToggle = static_cast<FrogPilotParamValueControl*>(toggles["StoppingDistance"]);
 
   if (isMetric) {
     laneWidthToggle->updateControl(0, 30, " meters", 10);
 
     mtscLimitToggle->updateControl(0, 99, " kph");
+    pauseLateralToggle->updateControl(0, 150, " kph");
 
     stoppingDistanceToggle->updateControl(0, 5, " meters");
   } else {
     laneWidthToggle->updateControl(0, 100, " feet", 10);
 
     mtscLimitToggle->updateControl(0, 99, " mph");
+    pauseLateralToggle->updateControl(0, 99, " mph");
 
     stoppingDistanceToggle->updateControl(0, 10, " feet");
   }
 
   laneWidthToggle->refresh();
   mtscLimitToggle->refresh();
+  pauseLateralToggle->refresh();
   stoppingDistanceToggle->refresh();
 
   previousIsMetric = isMetric;

selfdrive/frogpilot/ui/control_settings.h

@@ -44,7 +44,7 @@ private:
   std::set<QString> lateralTuneKeys = {"ForceAutoTune", "NNFF"};
   std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration", "StoppingDistance"};
   std::set<QString> mtscKeys = {"DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck", "MTSCLimit"};
-  std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate", "NavChill", "ReverseCruise"};
+  std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate", "NavChill", "PauseLateralOnSignal", "ReverseCruise"};
   std::set<QString> speedLimitControllerKeys = {};
   std::set<QString> speedLimitControllerControlsKeys = {};
   std::set<QString> speedLimitControllerQOLKeys = {};