From c97208c1dd4288b977820ed18a40ef37c7a1ae8b Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Fri, 3 Oct 2025 21:09:03 -0500
Subject: [PATCH] SteerAlerts

---
 selfdrive/controls/controlsd.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 17e8df979b..c19733b87a 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -715,8 +715,8 @@ class Controls:
       desired_lateral_accel = model_v2.action.desiredCurvature * (clipped_speed**2)
       undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2
       turning = abs(desired_lateral_accel) > 1.0
-      # TODO: lac.saturated includes speed and other checks, should be pulled out
-      if undershooting and turning and lac_log.saturated:
+      commanded_torque_at_max = abs(lac_log.output) > 0.99
+      if undershooting and turning and (lac_log.saturated or commanded_torque_at_max):
         if self.frogpilot_toggles.goat_scream_alert:
           self.frogpilot_events.add(FrogPilotEventName.goatSteerSaturated)
         else: