Disengage on gas toggle

selfdrive/car/interfaces.py

@@ -32,6 +32,7 @@ class CarInterfaceBase(ABC):
     self.steering_unpressed = 0
     self.low_speed_alert = False
     self.silent_steer_warning = True
+    self.disengage_on_gas = params.get("DisengageOnGas", encoding='utf8')
 
     if CarState is not None:
       self.CS = CarState(CP)
@@ -123,7 +124,7 @@ class CarInterfaceBase(ABC):
       events.add(EventName.wrongCarMode)
     if cs_out.espDisabled:
       events.add(EventName.espDisabled)
-    if cs_out.gasPressed:
+    if cs_out.gasPressed and self.disengage_on_gas:
       events.add(EventName.gasPressed)
     if cs_out.stockFcw:
       events.add(EventName.stockFcw)
@@ -152,7 +153,7 @@ class CarInterfaceBase(ABC):
       events.add(EventName.steerUnavailable)
 
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
-    if (cs_out.gasPressed and not self.CS.out.gasPressed) or \
+    if (self.disengage_on_gas and cs_out.gasPressed and not self.CS.out.gasPressed) or \
        (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
       events.add(EventName.pedalPressed)
 

selfdrive/common/params.cc

@@ -99,6 +99,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisableRadar_Allow", PERSISTENT},
     {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
     {"DisableUpdates", PERSISTENT},
+    {"DisengageOnGas", PERSISTENT},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},

selfdrive/manager/manager.py

@@ -38,6 +38,7 @@ def manager_init() -> None:
 
   default_params: List[Tuple[str, Union[str, bytes]]] = [
     ("CompletedTrainingVersion", "0"),
+    ("DisengageOnGas", "1"),
     ("HasAcceptedTerms", "0"),
     ("OpenpilotEnabledToggle", "1"),
   ]

selfdrive/ui/qt/offroad/settings.cc

@@ -71,6 +71,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
       "../assets/offroad/icon_road.png",
     },
+    {
+      "DisengageOnGas",
+      "Disengage openpilot On Gas Press",
+      "Disengage openpilot on gas pedal press.",
+      "../assets/offroad/icon_speed_limit.png",
+    },
 #ifdef ENABLE_MAPS
     {
       "NavSettingTime24h",