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Mazda: no steer unavailable alert for cars with full range steering #23998

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merged 6 commits into from
Mar 20, 2022
Merged

Mazda: no steer unavailable alert for cars with full range steering #23998

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fef4b0c
allow steer if minSteerSpeed is <= 0
sshane Mar 19, 2022
8793fb5
need to understand lkas_blocked, can we just use that?
sshane Mar 19, 2022
a59b7ed
Revert "need to understand lkas_blocked, can we just use that?"
sshane Mar 19, 2022
c868083
better
sshane Mar 19, 2022
bb26078
fix
sshane Mar 19, 2022
abb86c9
little more clear
adeebshihadeh Mar 20, 2022
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2 changes: 2 additions & 0 deletions selfdrive/car/mazda/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,8 @@ def update(self, cp, cp_cam):
self.lkas_allowed_speed = True
elif speed_kph < LKAS_LIMITS.DISABLE_SPEED:
self.lkas_allowed_speed = False
else:
self.lkas_allowed_speed = True

# TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on
# it should be used for carState.cruiseState.nonAdaptive instead
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