From 09e5ba7ddeec4469cdbc44ef82a3cb21b1604960 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Tue, 27 Feb 2024 16:34:47 -0700
Subject: [PATCH] Navigate on Chill Mode

Co-Authored-By: garrettpall <76917194+garrettpall@users.noreply.github.com>
---
 common/params.cc                           | 1 +
 selfdrive/frogpilot/ui/control_settings.cc | 1 +
 selfdrive/frogpilot/ui/control_settings.h  | 2 +-
 selfdrive/modeld/modeld.py                 | 2 +-
 4 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 9d9739af..3f672b21 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -294,6 +294,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"MTSCEnabled", PERSISTENT},
     {"MTSCLimit", PERSISTENT},
     {"MuteOverheated", PERSISTENT},
+    {"NavChill", PERSISTENT},
     {"NoLogging", PERSISTENT},
     {"NoUploads", PERSISTENT},
     {"PathEdgeWidth", PERSISTENT},
diff --git a/selfdrive/frogpilot/ui/control_settings.cc b/selfdrive/frogpilot/ui/control_settings.cc
index e44c85f6..1512c9a0 100644
--- a/selfdrive/frogpilot/ui/control_settings.cc
+++ b/selfdrive/frogpilot/ui/control_settings.cc
@@ -40,6 +40,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"QOLControls", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
     {"DisableOnroadUploads", "Disable Onroad Uploads", "Prevent large data uploads when onroad.", ""},
     {"HigherBitrate", "Higher Bitrate Recording", "Increases the quality of the footage uploaded to comma connect.", ""},
+    {"NavChill", "Navigate on Chill Mode", "Allows cars without longitudinal support to navigate. Allows navigation without experimental mode.", ""},
     {"ReverseCruise", "Reverse Cruise Increase", "Reverses the 'long press' functionality when increasing the max set speed. Useful to increase the max speed quickly.", ""},
   };
 
diff --git a/selfdrive/frogpilot/ui/control_settings.h b/selfdrive/frogpilot/ui/control_settings.h
index fc4726a5..f4eb9f6f 100644
--- a/selfdrive/frogpilot/ui/control_settings.h
+++ b/selfdrive/frogpilot/ui/control_settings.h
@@ -43,7 +43,7 @@ private:
   std::set<QString> lateralTuneKeys = {"ForceAutoTune"};
   std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration", "StoppingDistance"};
   std::set<QString> mtscKeys = {"DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck", "MTSCLimit"};
-  std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate", "ReverseCruise"};
+  std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate", "NavChill", "ReverseCruise"};
   std::set<QString> speedLimitControllerKeys = {};
   std::set<QString> speedLimitControllerControlsKeys = {};
   std::set<QString> speedLimitControllerQOLKeys = {};
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 9d13f689..ffba1df8 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -246,7 +246,7 @@ def main(demo=False):
     # Enable/disable nav features
     timestamp_llk = sm["navModel"].locationMonoTime
     nav_valid = sm.valid["navModel"] # and (nanos_since_boot() - timestamp_llk < 1e9)
-    nav_enabled = nav_valid and params.get_bool("ExperimentalMode")
+    nav_enabled = nav_valid and (params.get_bool("ExperimentalMode") or params.get_bool("NavChill"))
 
     if not nav_enabled:
       nav_features[:] = 0