diff --git a/sunnypilot/navd/navigation_desires/navigation_desires.py b/sunnypilot/navd/navigation_desires/navigation_desires.py
index b39917b89e..c68cf6ca59 100644
--- a/sunnypilot/navd/navigation_desires/navigation_desires.py
+++ b/sunnypilot/navd/navigation_desires/navigation_desires.py
@@ -1,5 +1,5 @@
 """
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
 
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
@@ -35,9 +35,9 @@ class NavigationDesires:
         self.desire = log.Desire.keepLeft
       elif upcoming == 'slightRight' and (not CS.rightBlindspot or CS.vEgo < self._turn_speed_limit):
         self.desire = log.Desire.keepRight
-      elif upcoming == 'left' and CS.leftBlinker and not CS.rightBlinker and not CS.leftBlindspot and CS.vEgo < self._turn_speed_limit:
+      elif upcoming == 'left' and not CS.rightBlinker and not CS.leftBlindspot and CS.vEgo < self._turn_speed_limit:
         self.desire = log.Desire.turnLeft
-      elif upcoming == 'right' and CS.rightBlinker and not CS.leftBlinker and not CS.rightBlindspot and CS.vEgo < self._turn_speed_limit:
+      elif upcoming == 'right' and not CS.leftBlinker and not CS.rightBlindspot and CS.vEgo < self._turn_speed_limit:
         self.desire = log.Desire.turnRight
 
   def get_desire(self) -> log.Desire:
diff --git a/sunnypilot/navd/navigation_desires/tests/test_navigation_desires.py b/sunnypilot/navd/navigation_desires/tests/test_navigation_desires.py
index 6d1ae2c192..c87e75798a 100644
--- a/sunnypilot/navd/navigation_desires/tests/test_navigation_desires.py
+++ b/sunnypilot/navd/navigation_desires/tests/test_navigation_desires.py
@@ -1,3 +1,9 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 import pytest
 import types
 
@@ -21,7 +27,7 @@ NAVIGATION_PARAMS: list[tuple] = [
   ('slightLeft', make_car(vEgo=9, leftBlindspot=True), log.Desire.none),
   ('slightRight', make_car(vEgo=9, rightBlindspot=True), log.Desire.none),
   ('left', make_car(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False), log.Desire.turnLeft),
-  ('left', make_car(vEgo=5, leftBlinker=False), log.Desire.none),
+  ('left', make_car(vEgo=5, leftBlinker=False, rightBlinker=True), log.Desire.none),
   ('right', make_car(vEgo=6, rightBlinker=True, leftBlindspot=False), log.Desire.turnRight),
   ('right', make_car(vEgo=6, rightBlinker=True, rightBlindspot=True), log.Desire.none),
   ('left', make_car(vEgo=9, leftBlinker=True), log.Desire.none),