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Mazda: Fix OP steer warning in cars with lockout (#22612)

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Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
This commit is contained in:
Jafar Al-Gharaibeh
2021-10-20 23:36:22 -05:00
committed by GitHub
parent 9a2ecec1a8
commit ca1f96ac72
1 changed files with 3 additions and 2 deletions
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selfdrive/car/mazda/carstate.py
+3 -2
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@@ -78,8 +78,9 @@ class CarState(CarStateBase):
self.low_speed_lockout = False
self.low_speed_alert = False
# 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)
# Check if LKAS is disabled due to lack of driver torque when all other states indicate
# it should be enabled (steer lockout)
ret.steerWarning = self.lkas_allowed and (cp.vl["STEER_RATE"]["LKAS_BLOCK"] == 1)
self.acc_active_last = ret.cruiseState.enabled