From be8cf95de833fca3cfbdcc385689f8c85d1ffe0a Mon Sep 17 00:00:00 2001
From: dirwin31 <83434411+dirwin31@users.noreply.github.com>
Date: Mon, 26 Oct 2026 08:25:28 -0700
Subject: [PATCH] AOL: Skip the temporary steering warning while the driver
 steers

A hard override on the Civic puts the EPS in NO_TORQUE_ALERT_1, which
reads as a temporary steering fault. The armed-AOL warning added
steerTempUnavailableSilent for it every time, even though the driver was
holding the wheel. CarSpecificEvents already stays quiet in that case.
Route 00000060: all 23 status-2 windows cleared before the driver let go.
The warning still shows if the fault is present while the wheel is free.

(cherry picked from commit f9167e2a24007c0822b4eae8870a24100a709325)
---
 openpilot/selfdrive/selfdrived/selfdrived.py  |  4 +++-
 openpilot/starpilot/aol/tests/test_runtime.py | 10 ++++++++++
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index 9ea56f7e72..23c24e2397 100755
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -2071,9 +2071,11 @@ class SelfdriveD:
         not self.events.contains(ET.IMMEDIATE_DISABLE)):
       self.aol_soft_takeover_alert = True
     if (self.aol_replay and intent is not None and intent.lateralArmed and
-        CS.steerFaultTemporary and not CS.steerFaultPermanent):
+        CS.steerFaultTemporary and not CS.steerFaultPermanent and not CS.steeringPressed):
       # An armed AOL session still needs the ordinary temporary-steering warning
       # while actual steering is suspended and the stock state machine is off.
+      # Like CarSpecificEvents, skip it while the driver is steering: a hard
+      # override alone puts Honda EPS in NO_TORQUE_ALERT_1.
       if EventName.steerTempUnavailableSilent not in self.events.names:
         self.events.add(EventName.steerTempUnavailableSilent)
       if ET.WARNING not in self.state_machine.current_alert_types:
diff --git a/openpilot/starpilot/aol/tests/test_runtime.py b/openpilot/starpilot/aol/tests/test_runtime.py
index 53b63f63d4..51eaafa6ff 100644
--- a/openpilot/starpilot/aol/tests/test_runtime.py
+++ b/openpilot/starpilot/aol/tests/test_runtime.py
@@ -1372,6 +1372,16 @@ class IpcAxisContractTests(unittest.TestCase):
       self.assertEqual(sd.AM.current_alert.alert_type, 'steerTempUnavailableSilent/warning')
       self.assertEqual(sd.AM.current_alert.alert_status, log.SelfdriveState.AlertStatus.userPrompt)
       self.assertEqual(sd.AM.current_alert.alert_text_1, 'Steering Assist Temporarily Unavailable')
+      # A hard driver override puts Honda EPS in NO_TORQUE_ALERT_1; the driver
+      # is already steering, so the warning waits until they let go.
+      state.steeringPressed = True
+      sd.sm.frame += 1
+      sd.step()
+      self.assertNotIn(log.OnroadEvent.EventName.steerTempUnavailableSilent, sd.events.names)
+      state.steeringPressed = False
+      sd.sm.frame += 1
+      sd.step()
+      self.assertIn(log.OnroadEvent.EventName.steerTempUnavailableSilent, sd.events.names)
       state.steerFaultTemporary = False
       native.requestedLateral = native.lateralAllowed = True
       sd.sm.frame += 1