UI: show steering wheel icon while engaged or engageable

4 years ago · 78b97eaa36
parent f0be9a57ac
commit 78b97eaa36
1 changed files with 2 additions and 1 deletions
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@ -108,7 +108,8 @@ static void update_state(UIState *s) {

  // update engageability and DM icons at 2Hz
  if (sm.frame % (UI_FREQ / 2) == 0) {
-    scene.engageable = sm["controlsState"].getControlsState().getEngageable();
+    auto cs = sm["controlsState"].getControlsState();
+    scene.engageable = cs.getEngageable() || cs.getEnabled();
    scene.dm_active = sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode();
  }
  if (sm.updated("modelV2") && s->vg) {