Experimental Mode activation via steering wheel / onroad UI

Added toggle to enable or disable Experimental Mode from the steering wheel or onroad UI.

selfdrive/car/hyundai/carstate.py

@@ -170,6 +170,16 @@ class CarState(CarStateBase):
     if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
       self.main_enabled = not self.main_enabled
 
+    # Toggle Experimental Mode from steering wheel function
+    if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available and self.CP.flags & HyundaiFlags.CAN_LFA_BTN:
+      lkas_pressed = cp.vl["BCM_PO_11"]["LFA_Pressed"]
+      if lkas_pressed and not self.lkas_previously_pressed:
+        if frogpilot_variables.conditional_experimental_mode:
+          self.fpf.update_cestatus_lkas()
+        else:
+          self.fpf.update_experimental_mode()
+      self.lkas_previously_pressed = lkas_pressed
+
     return ret
 
   def update_canfd(self, cp, cp_cam, frogpilot_variables):
@@ -255,6 +265,13 @@ class CarState(CarStateBase):
       self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
                                           else cp_cam.vl["CAM_0x2a4"])
 
+    # Toggle Experimental Mode from steering wheel function
+    if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
+      lkas_pressed = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
+      if lkas_pressed and not self.lkas_previously_pressed:
+        self.fpf.lkas_button_function(frogpilot_variables.conditional_experimental_mode)
+      self.lkas_previously_pressed = lkas_pressed
+
     return ret
 
   def get_can_parser(self, CP):
@@ -304,6 +321,9 @@ class CarState(CarStateBase):
     else:
       messages.append(("LVR12", 100))
 
+    if CP.flags & HyundaiFlags.CAN_LFA_BTN:
+      messages.append(("BCM_PO_11", 50))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod