From 702bebf176dbfd5803c53cdae306eb4545b74d95 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 16 Oct 2025 02:22:49 -0700
Subject: [PATCH] raylib: fix temporarily untoggleable onroad experimental mode
 button (#36383)

* gpt got it after 2 tries, but still not immed mergeable

* bad bot
---
 selfdrive/ui/onroad/exp_button.py | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/onroad/exp_button.py b/selfdrive/ui/onroad/exp_button.py
index 175233c5ba..e5d8171413 100644
--- a/selfdrive/ui/onroad/exp_button.py
+++ b/selfdrive/ui/onroad/exp_button.py
@@ -66,8 +66,5 @@ class ExpButton(Widget):
     if not self._params.get_bool("ExperimentalModeConfirmed"):
       return False
 
-    car_params = ui_state.sm["carParams"]
-    if car_params.alphaLongitudinalAvailable:
-      return self._params.get_bool("AlphaLongitudinalEnabled")
-    else:
-      return car_params.openpilotLongitudinalControl
+    # Mirror exp mode toggle using persistent car params
+    return ui_state.has_longitudinal_control