Always on Lateral

Added toggle for Always On Lateral / No disengage lateral on gas and brake.

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>

selfdrive/ui/ui.h

@@ -107,6 +107,7 @@ typedef enum UIStatus {
   STATUS_ENGAGED,
 
   // FrogPilot statuses
+  STATUS_LATERAL_ACTIVE,
 } UIStatus;
 
 enum PrimeType {
@@ -125,6 +126,7 @@ const QColor bg_colors [] = {
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
 
   // FrogPilot colors
+  [STATUS_LATERAL_ACTIVE] = QColor(0x0a, 0xba, 0xb5, 0xf1),
 };
 
 static std::map<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
@@ -167,6 +169,8 @@ typedef struct UIScene {
   uint64_t started_frame;
 
   // FrogPilot variables
+  bool always_on_lateral;
+  bool always_on_lateral_active;
   bool enabled;
   bool experimental_mode;