don't wait for 4 seconds before it starts steering again after steering fault (#19520)

old-commit-hash: 89a600884138c59397670f2513bc5d0ba0ebc2b1

selfdrive/car/toyota/carcontroller.py

@@ -38,7 +38,6 @@ class CarController():
     self.last_standstill = False
     self.standstill_req = False
 
-    self.last_fault_frame = -200
     self.steer_rate_limited = False
 
     self.fake_ecus = set()
@@ -73,12 +72,8 @@ class CarController():
     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, SteerLimitParams)
     self.steer_rate_limited = new_steer != apply_steer
 
-    # only cut torque when steer state is a known fault
-    if CS.steer_state in [9, 25]:
-      self.last_fault_frame = frame
-
-    # Cut steering for 2s after fault
-    if not enabled or (frame - self.last_fault_frame < 200):
+    # Cut steering while we're in a known fault state (2s)
+    if not enabled or CS.steer_state in [9, 25]:
       apply_steer = 0
       apply_steer_req = 0
     else:

selfdrive/controls/lib/events.py

@@ -519,7 +519,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       "TAKE CONTROL",
       "Steering Temporarily Unavailable",
       AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 1.),
     ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable",
                               duration_hud_alert=0.),
   },