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Mazda: Fix steer lockout issue in CX-9 2021 (#22506)

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Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
old-commit-hash: d19ac7e49bd48ceb30ccf9688b6b03bc798cd222
This commit is contained in:
Jafar Al-Gharaibeh
2021-10-10 16:19:43 -05:00
committed by GitHub
parent d6a4bbc2f6
commit db1ffcb8a6
1 changed files with 2 additions and 2 deletions
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selfdrive/car/mazda/carstate.py
+2 -2
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@@ -78,8 +78,8 @@ class CarState(CarStateBase):
self.low_speed_lockout = False
self.low_speed_alert = False
# On if no driver torque the last 5 seconds
ret.steerWarning = cp.vl["STEER_RATE"]["HANDS_OFF_5_SECONDS"] == 1
# Check if LKAS is disabled due to lack of driver torque
ret.steerWarning = (cp.vl["STEER_RATE"]["HANDS_OFF_5_SECONDS"] == 1) and (cp.vl["STEER_RATE"]["LKAS_BLOCK"] == 1)
self.acc_active_last = ret.cruiseState.enabled