add to params

common/params_keys.h

@@ -86,6 +86,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
     {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
     {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"Offroad_LateralIsoViolation", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
     {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},

selfdrive/selfdrived/selfdrived.py

@@ -234,6 +234,7 @@ class SelfdriveD:
 
     if check_lateral_iso_violation(self.sm):
       set_offroad_alert("Offroad_LateralIsoViolation", True)
+      # TODO: lockout for rest of drive like DM attention warning
 
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: