Pause lateral control with turn signal

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

selfdrive/controls/controlsd.py

@@ -18,6 +18,7 @@ from openpilot.system.version import get_short_branch
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from openpilot.selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET
+from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
@@ -633,18 +634,20 @@ class Controls:
     gear = car.CarState.GearShifter
     driving_gear = CS.gearShifter not in (gear.neutral, gear.park, gear.reverse, gear.unknown)
 
+    signal_check = not ((CS.leftBlinker or CS.rightBlinker) and self.pause_lateral_on_signal and CS.vEgo < LANE_CHANGE_SPEED_MIN)
+
     # Always on lateral
     if self.always_on_lateral:
       self.lateral_allowed &= CS.cruiseState.available
       self.lateral_allowed |= CS.cruiseState.enabled or (CS.cruiseState.available and self.always_on_lateral_main)
 
-      self.FPCC.alwaysOnLateral = self.lateral_allowed and driving_gear
+      self.FPCC.alwaysOnLateral = self.lateral_allowed and driving_gear and signal_check
       if self.FPCC.alwaysOnLateral:
         self.current_alert_types.append(ET.WARNING)
 
     # 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)
     CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
 
@@ -987,6 +990,7 @@ class Controls:
     longitudinal_tune = self.params.get_bool("LongitudinalTune")
     self.sport_plus = self.params.get_int("AccelerationProfile") == 3 and longitudinal_tune
 
+    self.pause_lateral_on_signal = self.params.get_bool("PauseLateralOnSignal")
     self.reverse_cruise_increase = self.params.get_bool("ReverseCruise")
 
 def main():

selfdrive/frogpilot/ui/control_settings.cc

@@ -39,6 +39,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"LaneChangeTime", "Lane Change Timer", "Specify a delay before executing a nudgeless lane change.", ""},
     {"LaneDetection", "Lane Detection", "Block nudgeless lane changes when a lane isn't detected.", ""},
     {"OneLaneChange", "One Lane Change Per Signal", "Limit to one nudgeless lane change per turn signal activation.", ""},
+    {"PauseLateralOnSignal", "Pause Lateral On Turn Signal", "Temporarily disable lateral control during turn signal use.", ""},
   };
 
   for (const auto &[param, title, desc, icon] : controlToggles) {
@@ -256,7 +257,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
 
   conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CESlowerLead", "CENavigation", "CEStopLights", "CESignal"};
   fireTheBabysitterKeys = {"NoLogging", "MuteDM", "MuteDoor", "MuteOverheated", "MuteSeatbelt"};
-  laneChangeKeys = {"LaneChangeTime", "LaneDetection", "OneLaneChange"};
+  laneChangeKeys = {"LaneChangeTime", "LaneDetection", "OneLaneChange", "PauseLateralOnSignal"};
   lateralTuneKeys = {"AverageCurvature", "NNFF"};
   longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "StoppingDistance"};
   speedLimitControllerKeys = {};