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Mazda: no steer unavailable alert for cars with full range steering (#23998)

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* allow steer if minSteerSpeed is <= 0

* need to understand lkas_blocked, can we just use that?

need to understand lkas_blocked, can we just use that?

* Revert "need to understand lkas_blocked, can we just use that?"

This reverts commit 8793fb562d6ba41ce4fd8c8e8a974d639e98f79b.

* better

* fix

* little more clear

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 20085620db8fbb7ed6d7a4ae8b8d147031ad6fe2
This commit is contained in:
Shane Smiskol
2022-03-20 16:41:18 -07:00
committed by GitHub
parent 8a88db322e
commit 378fc7d3b2
1 changed files with 2 additions and 0 deletions
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selfdrive/car/mazda/carstate.py
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@@ -72,6 +72,8 @@ class CarState(CarStateBase):
self.lkas_allowed_speed = True
elif speed_kph < LKAS_LIMITS.DISABLE_SPEED:
self.lkas_allowed_speed = False
else:
self.lkas_allowed_speed = True
# TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on
# it should be used for carState.cruiseState.nonAdaptive instead