Remove lateral toggle

common/params.cc

@@ -105,7 +105,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
     {"EnableWideCamera", CLEAR_ON_MANAGER_START},
-    {"EndToEndToggle", PERSISTENT},
     {"ForcePowerDown", CLEAR_ON_MANAGER_START},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},

selfdrive/controls/plannerd.py

@@ -17,7 +17,8 @@ def plannerd_thread(sm=None, pm=None):
   CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
-  use_lanelines = not params.get_bool('EndToEndToggle')
+  #TODO remove laneline support
+  use_lanelines = False
   wide_camera = params.get_bool('EnableWideCamera') if TICI else False
 
   cloudlog.event("e2e mode", on=use_lanelines)

selfdrive/ui/qt/offroad/settings.cc

@@ -57,12 +57,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
       "../assets/offroad/icon_monitoring.png",
     },
-    {
-      "EndToEndToggle",
-      "\U0001f96c Disable use of lanelines (Alpha) \U0001f96c",
-      "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
-      "../assets/offroad/icon_road.png",
-    },
     {
       "DisengageOnAccelerator",
       "Disengage On Accelerator Pedal",

selfdrive/ui/ui.cc

@@ -221,7 +221,7 @@ void UIState::updateStatus() {
     if (scene.started) {
       status = STATUS_DISENGAGED;
       scene.started_frame = sm->frame;
-      scene.end_to_end = Params().getBool("EndToEndToggle");
+      scene.end_to_end = true;
       wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
     }
     started_prev = scene.started;