From bace68d131fd539147fab9af8f254f93031fc310 Mon Sep 17 00:00:00 2001
From: MoreTorque <104254025+MoreTore@users.noreply.github.com>
Date: Sat, 28 Feb 2026 13:36:21 -0600
Subject: [PATCH] fix low speed steering

---
 opendbc_repo/opendbc/car/mazda/interface.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/opendbc_repo/opendbc/car/mazda/interface.py b/opendbc_repo/opendbc/car/mazda/interface.py
index efd69e3c7..fd2dffd0b 100755
--- a/opendbc_repo/opendbc/car/mazda/interface.py
+++ b/opendbc_repo/opendbc/car/mazda/interface.py
@@ -77,7 +77,7 @@ class CarInterface(CarInterfaceBase):
 
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_3_2019, CAR.MAZDA_CX_30, CAR.MAZDA_CX_50, CAR.MAZDA_3_2023, CAR.MAZDA_CX_30_2023) and not ret.flags & MazdaSafetyFlags.TORQUE_INTERCEPTOR:
+    if candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_3_2019, CAR.MAZDA_CX_30, CAR.MAZDA_CX_50, CAR.MAZDA_3_2023, CAR.MAZDA_CX_30_2023):
       ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
 
     ret.centerToFront = ret.wheelbase * 0.41
@@ -93,6 +93,8 @@ class CarInterface(CarInterfaceBase):
       if p.get_bool("TorqueInterceptorEnabled"): # Torque Interceptor Installed
         ret.flags |= MazdaSafetyFlags.TORQUE_INTERCEPTOR.value
         ret.safetyConfigs[0].safetyParam |= MazdaSafetyFlags.TORQUE_INTERCEPTOR.value
+        ret.minSteerSpeed = 0.0
+        ret.steerAtStandstill = True
       if p.get_bool("RadarInterceptorEnabled"): # Radar Interceptor Installed
         ret.flags |= MazdaSafetyFlags.RADAR_INTERCEPTOR.value
         ret.safetyConfigs[0].safetyParam |= MazdaSafetyFlags.RADAR_INTERCEPTOR.value
@@ -127,6 +129,7 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kiV = [0.1, 0.1]
       ret.startingState = True
       ret.steerActuatorDelay = 0.335
+      ret.steerAtStandstill = True
 
     if candidate in GEN3:
       ret.safetyConfigs[0].safetyParam |= MazdaSafetyFlags.GEN3.value