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fix lkas block

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MoreTorque
2024-09-25 08:48:20 -05:00
committed by MoreTore
parent 57cf3b7771
commit d4e5011fc2
1 changed files with 1 additions and 6 deletions
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selfdrive/car/mazda/carstate.py
+1 -6
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@@ -132,15 +132,10 @@ class CarState(CarStateBase):
ret.cruiseState.available = cp.vl["CRZ_CTRL"]["CRZ_AVAILABLE"] == 1
ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]["CRZ_ACTIVE"] == 1
if self.CP.carFingerprint not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021):
ret.steerFaultTemporary = cp.vl["STEER_RATE"]["HANDS_OFF_5_SECONDS"] == 1
else:
ret.steerFaultTemporary = False
# Check if LKAS is disabled due to lack of driver torque when all other states indicate
# it should be enabled (steer lockout). Don't warn until we actually get lkas active
# and lose it again, i.e, after initial lkas activation
ret.steerFaultTemporary = self.lkas_allowed_speed and lkas_blocked
ret.steerFaultTemporary = self.lkas_allowed_speed and lkas_blocked not self.ti_lkas_allowed
self.acc_active_last = ret.cruiseState.enabled