Torque control: max torque warning (#25018)

* New steer torque warning

* typo

selfdrive/controls/controlsd.py

@@ -317,7 +317,7 @@ class Controls:
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
         self.events.add(EventName.commIssueAvgFreq)
-      else: # invalid or can_rcv_error.
+      else:  # invalid or can_rcv_error.
         self.events.add(EventName.commIssue)
 
       logs = {
@@ -598,7 +598,14 @@ class Controls:
         lac_log.saturated = abs(actuators.steer) >= 0.9
 
     # Send a "steering required alert" if saturation count has reached the limit
-    if lac_log.active and lac_log.saturated and not CS.steeringPressed:
+    if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque':
+      undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
+      turning = abs(lac_log.desiredLateralAccel) > 1.0
+      good_speed = CS.vEgo > 5
+      max_torque = abs(self.last_actuators.steer) > 0.99
+      if undershooting and turning and good_speed and max_torque:
+        self.events.add(EventName.steerSaturated)
+    elif lac_log.active and lac_log.saturated and not CS.steeringPressed:
       dpath_points = lat_plan.dPathPoints
       if len(dpath_points):
         # Check if we deviated from the path