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Cherry Pick Jafaral 63fd793 #4

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4 changes: 1 addition & 3 deletions opendbc/car/mazda/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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3 changes: 2 additions & 1 deletion opendbc/car/mazda/carstate.py
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Expand Up @@ -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.
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