improved fan malfunction detection (#27405)

old-commit-hash: 9d64fb2d1a

selfdrive/controls/controlsd.py

@@ -280,8 +280,9 @@ class Controls:
 
     # Alert if fan isn't spinning for 5 seconds
     if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
-      if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
-        if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
+      if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
+        # allow enough time for the fan controller in the panda to recover from stalls
+        if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0:
           self.events.add(EventName.fanMalfunction)
       else:
         self.last_functional_fan_frame = self.sm.frame