From b601a1c626137a86bca8714c6b0bb123d5ebbd74 Mon Sep 17 00:00:00 2001
From: IanBoraks <ianboraks@gmail.com>
Date: Sun, 23 Aug 2026 11:13:08 -0700
Subject: [PATCH] Cherry Pick Jafaral 63fd793

---
 opendbc/car/mazda/carcontroller.py | 4 +---
 opendbc/car/mazda/carstate.py      | 3 ++-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/opendbc/car/mazda/carcontroller.py b/opendbc/car/mazda/carcontroller.py
index d57c490eb6a..adfc70c089e 100644
--- a/opendbc/car/mazda/carcontroller.py
+++ b/opendbc/car/mazda/carcontroller.py
@@ -74,9 +74,7 @@ def update(self, CC, CC_SP, CS, now_nanos):
     # send HUD alerts
     if self.frame % 50 == 0:
       ldw = CC.hudControl.visualAlert == VisualAlert.ldw
-      steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired
-      # TODO: find a way to silence audible warnings so we can add more hud alerts
-      steer_required = steer_required and CS.lkas_allowed_speed
+      steer_required = CS.out.steerFaultTemporary
       can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
 
     # send steering command
diff --git a/opendbc/car/mazda/carstate.py b/opendbc/car/mazda/carstate.py
index 5b5e7cfba0c..c472f33bffe 100644
--- a/opendbc/car/mazda/carstate.py
+++ b/opendbc/car/mazda/carstate.py
@@ -198,7 +198,8 @@ def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
     # it should be enabled (steer lockout). Don't warn until we actually get lkas active
     # and lose it again, i.e, after initial lkas activation
     if self.CP.minSteerSpeed > 0:
-      ret.steerFaultTemporary = self.lkas_allowed_speed and lkas_blocked
+      # On if no driver torque the last 5 seconds
+      ret.steerFaultTemporary = cp.vl["STEER_RATE"]["HANDS_OFF_5_SECONDS"] == 1
     else:
       # CX-5 2022: EPS accepts steering at all speeds regardless of LKAS_BLOCK.
       # Verified across 5.5M frames: LKAS_BLOCK never indicates a real steering failure.