From f1a3ede920d3e34336fa18ae3c888041d4d9d4f6 Mon Sep 17 00:00:00 2001
From: newstackdevelopment
 <31353561+newstackdevelopment@users.noreply.github.com>
Date: Wed, 20 Jan 2021 08:47:17 -0600
Subject: [PATCH] added allow nudgeless bypass

---
 selfdrive/controls/lib/pathplanner.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index c3f239704e..6240a4e7ea 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -17,8 +17,9 @@ LaneChangeDirection = log.PathPlan.LaneChangeDirection
 
 LOG_MPC = os.environ.get('LOG_MPC', False)
 
-LANE_CHANGE_SPEED_MIN = 45 * CV.MPH_TO_MS
+LANE_CHANGE_SPEED_MIN = 45 * CV.MPH_TO_MS #change minimum
 LANE_CHANGE_TIME_MAX = 10.
+LANE_CHANGE_NUDGE_LESS = False
 
 DESIRES = {
   LaneChangeDirection.none: {
@@ -131,7 +132,7 @@ class PathPlanner():
       elif self.lane_change_state == LaneChangeState.preLaneChange:
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off
-        elif torque_applied and not blindspot_detected:
+        elif (torque_applied or LANE_CHANGE_NUDGE_LESS) and not blindspot_detected:
           self.lane_change_state = LaneChangeState.laneChangeStarting
 
       # starting