From 32f65bae55bd75e94a33bc85eba3dde54ebf9b89 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 11 Oct 2025 23:29:08 -0700 Subject: [PATCH] alpha long: allow toggle while onroad + restart op it's alpha, and some cars don't fault (we allow other toggles which would fault, so why not enable) --- selfdrive/ui/layouts/settings/developer.py | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py index fac00b60a2..21eb44efe7 100644 --- a/selfdrive/ui/layouts/settings/developer.py +++ b/selfdrive/ui/layouts/settings/developer.py @@ -70,9 +70,11 @@ class DeveloperLayout(Widget): description=DESCRIPTIONS["alpha_longitudinal"], initial_state=self._params.get_bool("AlphaLongitudinalEnabled"), callback=self._on_alpha_long_enabled, - enabled=ui_state.is_offroad, + enabled=lambda: not ui_state.engaged, ) + self._alpha_long_toggle.set_description(self._alpha_long_toggle.description + " Changing this setting will restart openpilot if the car is powered on.") + items = [ self._adb_toggle, self._ssh_toggle, @@ -152,6 +154,7 @@ class DeveloperLayout(Widget): def confirm_callback(result: int): if result == DialogResult.CONFIRM: self._params.put_bool("AlphaLongitudinalEnabled", True) + self._params.put_bool("OnroadCycleRequested", True) self._update_toggles() else: self._alpha_long_toggle.action_item.set_state(False) @@ -162,7 +165,8 @@ class DeveloperLayout(Widget): dlg = ConfirmDialog(content, "Enable", rich=True) gui_app.set_modal_overlay(dlg, callback=confirm_callback) - return - self._params.put_bool("AlphaLongitudinalEnabled", state) - self._update_toggles() + else: + self._params.put_bool("AlphaLongitudinalEnabled", False) + self._params.put_bool("OnroadCycleRequested", True) + self._update_toggles()