From 78b97eaa3611e2bcf27f6363a1574c44bd42c760 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 16 Sep 2021 23:43:19 -0700
Subject: [PATCH] UI: show steering wheel icon while engaged or engageable

---
 selfdrive/ui/ui.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ec1e7c2eda..3026e58e07 100644
--- 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) {