From 47b739c2ccfc0c19910d3c89f924b41feb937d9e Mon Sep 17 00:00:00 2001
From: garrettpall <76917194+garrettpall@users.noreply.github.com>
Date: Sat, 20 Jan 2024 08:38:28 -0500
Subject: [PATCH] Navigate on Chill Mode

---
 common/params.cc                           | 1 +
 selfdrive/frogpilot/ui/control_settings.cc | 1 +
 selfdrive/modeld/modeld.py                 | 2 +-
 3 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/common/params.cc b/common/params.cc
index f2b3b64fdd109c..46edf386067026 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -295,6 +295,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"MuteDoor", PERSISTENT},
     {"MuteOverheated", PERSISTENT},
     {"MuteSeatbelt", PERSISTENT},
+    {"NavChill", PERSISTENT},
     {"NavEnable", PERSISTENT},
     {"NavSpeedLimit", PERSISTENT},
     {"NavSpeedLimitControl", PERSISTENT},
diff --git a/selfdrive/frogpilot/ui/control_settings.cc b/selfdrive/frogpilot/ui/control_settings.cc
index fbb93a164bcdb2..48cd464926f7b1 100644
--- a/selfdrive/frogpilot/ui/control_settings.cc
+++ b/selfdrive/frogpilot/ui/control_settings.cc
@@ -48,6 +48,7 @@ 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.", ""},
     {"PauseLateralOnSignal", "Pause Lateral On Turn Signal Below", "Temporarily disable lateral control during turn signal use below the set speed.", ""},
     {"ReverseCruise", "Reverse Cruise Increase", "Reverses the 'long press' functionality when increasing the max set speed. Useful to increase the max speed quickly.", ""},
     {"SetSpeedOffset", "Set Speed Offset", "Set an offset for your desired set speed.", ""},
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 9cc238530a7125..dad7877a3411b0 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -224,7 +224,7 @@ def main():
     # 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