wip

common/params.cc

@@ -461,6 +461,9 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"WarningSoftVolume", PERSISTENT},
     {"WheelIcon", PERSISTENT},
     {"WheelSpeed", PERSISTENT},
+
+    // Clearpilot
+    {"no_lat_lane_change", PERSISTENT},
 };
 
 } // namespace

selfdrive/controls/controlsd.py

@@ -637,8 +637,13 @@ class Controls:
     if model_v2.meta.laneChangeState != LaneChangeState.off:
       CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left
       CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right
-      if clearpilot_disable_lat_on_lane_change:
-        CC.latActive = False
+
+    if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
+      CC.latActive = False
+      self.params_memory.put_int("no_lat_lane_change", 1)
+      # self.params_memory.put_int("CurrentRandomEvent", 1)
+    else:
+      self.params_memory.put_int("no_lat_lane_change", 0)
 
     if CS.leftBlinker or CS.rightBlinker:
       self.last_blinker_frame = self.sm.frame

selfdrive/ui/qt/onroad.cc

@@ -109,6 +109,11 @@ void OnroadWindow::updateState(const UIState &s) {
 
   nvg->updateState(s);
 
+  // Clearpilot
+  if (paramsMemory.getInt("no_lat_lane_change") == 1) {
+    bg = bg_colors[STATUS_DISENGAGED]
+  } 
+
   if (bg != bgColor) {
     // repaint border
     bg = bgColor;