From 220ce272fee1f7f5ace2a04052605a6e4f95712b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 11 Feb 2022 10:54:16 -0500
Subject: [PATCH] Add param to unsafeMode

---
 selfdrive/car/interfaces.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 9dab21619b..4e35f7dd27 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -74,7 +74,7 @@ class CarInterfaceBase(ABC):
   def get_std_params(candidate, fingerprint):
     ret = car.CarParams.new_message()
     ret.carFingerprint = candidate
-    ret.unsafeMode = 0  # see safety_declarations.h for allowed values
+    ret.unsafeMode = 1 if Params().get_bool("DisengageOnGas") else 0  # see safety_declarations.h for allowed values
 
     # standard ALC params
     ret.steerControlType = car.CarParams.SteerControlType.torque